ROS仿真环境配置Husky+32线激光雷达+深度相机+imu+gps
0.参考
wiki HUSKY 官网
git HUSKY
HUSKY_gazebo_Tutorials
代码资源
husky_base：与板载MCU通信的硬件驱动程序;
husky_bringup：调出启动文件和脚本；
husky_control：控件配置；
husky_description：机器人说明（URDF）
husky_gazebo：Gazebo插件定义和机器人URDF的扩展；
husky_msgs：消息定义 ；
husky_navigation：导航配置和演示；
husky_viz：可视化（rviz）配置和启动 。
1.下载源码
mkdir Husky_ws/src
cd Husky_ws/src
#下载指定分支HUSKY
git clone -b melodic-devel https://github.com/husky/husky.git
cd ..
catkin_make
source devel/setup.bash
# Set an environmental variable HUSKY_GAZEBO_DESCRIPTION:
export HUSKY_URDF_EXTRAS=$(rospack find husky_description)/urdf/empty.urdf
2启动节点
roslaunch husky_gazebo husky_empty_world.launch
roslaunch husky_gazebo husky_playpen.launch
#自定义的环境
roslaunch husky_gazebo husky_empty_world.launch world_name:=worlds/willowgarage.world
3 直接使用键盘发布cmd_vel话题
rosrun turtlesim turtle_teleop_key turtle1/cmd_vel:=/cmd_vel
4添加模型
修改urdf文件，深度相机、3D雷达、单线雷达在文件内有，直接修改文件即可。
修改 /Husky_ws/src/husky-melodic-devel/husky_description/urdf/husky.urdf.xacro文件
<?xml version="1.0"?>
<!--
Software License Agreement (BSD)
\file husky.urdf.xacro
\authors Paul Bovbel <[email protected]>, Devon Ash <[email protected]>
\copyright Copyright (c) 2015, Clearpath Robotics, Inc., All rights reserved.
Redistribution and use in source and binary forms, with or without modification, are permitted provided that
the following conditions are met:
* Redistributions of source code must retain the above copyright notice, this list of conditions and the
following disclaimer.
* Redistributions in binary form must reproduce the above copyright notice, this list of conditions and the
following disclaimer in the documentation and/or other materials provided with the distribution.
* Neither the name of Clearpath Robotics nor the names of its contributors may be used to endorse or promote
products derived from this software without specific prior written permission.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WAR-
RANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, IN-
DIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT
OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
-->
<robot name="husky" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:arg name="laser_enabled" default="$(optenv HUSKY_LMS1XX_ENABLED 0)" />
<xacro:arg name="laser_xyz" default="$(optenv HUSKY_LMS1XX_XYZ 0.2206 0.0 0.00635)" />
<xacro:arg name="laser_rpy" default="$(optenv HUSKY_LMS1XX_RPY 0.0 0.0 0.0)" />
<xacro:arg name="laser_secondary_enabled" default="$(optenv HUSKY_LMS1XX_SECONDARY_ENABLED 0)" />
<xacro:arg name="laser_secondary_xyz" default="$(optenv HUSKY_LMS1XX_SECONDARY_XYZ -0.2206 0.0 0.00635)" />
<xacro:arg name="laser_secondary_rpy" default="$(optenv HUSKY_LMS1XX_SECONDARY_RPY 0.0 0.0 3.14159)" />
<xacro:arg name="laser_ust10_front_enabled" default="$(optenv HUSKY_UST10_ENABLED 1)" />
<xacro:arg name="laser_ust10_front_prefix" default="$(optenv HUSKY_UST10_PREFIX front)" />
<xacro:arg name="laser_ust10_front_parent" default="$(optenv HUSKY_UST10_PARENT top_plate_link)" />
<xacro:arg name="laser_ust10_front_topic" default="$(optenv HUSKY_UST10_TOPIC front/scan)" />
<xacro:arg name="laser_ust10_front_xyz" default="$(optenv HUSKY_UST10_XYZ 0.2206 0.0 0.00635)" />
<xacro:arg name="laser_ust10_front_rpy" default="$(optenv HUSKY_UST10_RPY 0 0 0)" />
<xacro:arg name="laser_ust10_rear_enabled" default="$(optenv HUSKY_UST10_SECONDARY_ENABLED 0)" />
<xacro:arg name="laser_ust10_rear_prefix" default="$(optenv HUSKY_UST10_SECONDARY_PREFIX rear)" />
<xacro:arg name="laser_ust10_rear_parent" default="$(optenv HUSKY_UST10_SECONDARY_PARENT top_plate_link)" />
<xacro:arg name="laser_ust10_rear_topic" default="$(optenv HUSKY_UST10_SECONDARY_TOPIC rear/scan)" />
<xacro:arg name="laser_ust10_rear_xyz" default="$(optenv HUSKY_UST10_SECONDARY_XYZ -0.2206 0.0 0.00635)" />
<xacro:arg name="laser_ust10_rear_rpy" default="$(optenv HUSKY_UST10_SECONDARY_RPY 0 0 3.14159)" />
<xacro:arg name="laser_3d_enabled" default="$(optenv HUSKY_LASER_3D_ENABLED 1)" />
<xacro:arg name="laser_3d_xyz" default="$(optenv HUSKY_LASER_3D_XYZ 0 0 0)" />
<xacro:arg name="laser_3d_rpy" default="$(optenv HUSKY_LASER_3D_RPY 0 0 0)" />
<xacro:arg name="realsense_enabled" default="$(optenv HUSKY_REALSENSE_ENABLED 1)" />
<xacro:arg name="realsense_xyz" default="$(optenv HUSKY_REALSENSE_XYZ 0 0 0)" />
<xacro:arg name="realsense_rpy" default="$(optenv HUSKY_REALSENSE_RPY 0 0 0)" />
<xacro:arg name="realsense_mount" default="$(optenv HUSKY_REALSENSE_MOUNT_FRAME sensor_arch_mount_link)" />
<xacro:property name="husky_front_bumper_extend" value="$(optenv HUSKY_FRONT_BUMPER_EXTEND 0)" />
<xacro:property name="husky_rear_bumper_extend" value="$(optenv HUSKY_REAR_BUMPER_EXTEND 0)" />
<!-- Height of the sensor arch in mm. Must be either 510 or 300 -->
<xacro:arg name="sensor_arch_height" default="$(optenv HUSKY_SENSOR_ARCH_HEIGHT 510)" />
<xacro:arg name="sensor_arch" default="$(optenv HUSKY_SENSOR_ARCH 0)" />
<xacro:arg name="robot_namespace" default="$(optenv ROBOT_NAMESPACE /)" />
<xacro:arg name="urdf_extras" default="$(optenv HUSKY_URDF_EXTRAS empty.urdf)" />
<xacro:arg name="cpr_urdf_extras" default="$(optenv CPR_URDF_EXTRAS empty.urdf)" />
<!-- Included URDF/XACRO Files -->
<xacro:include filename="$(find husky_description)/urdf/decorations.urdf.xacro" />
<xacro:include filename="$(find husky_description)/urdf/wheel.urdf.xacro" />
<xacro:include filename="$(find husky_description)/urdf/accessories/intel_realsense.urdf.xacro"/>
<xacro:include filename="$(find husky_description)/urdf/accessories/sick_lms1xx_mount.urdf.xacro"/>
<xacro:include filename="$(find husky_description)/urdf/accessories/sensor_arch.urdf.xacro"/>
<xacro:include filename="$(find husky_description)/urdf/accessories/hokuyo_ust10.urdf.xacro"/>
<xacro:include filename="$(find husky_description)/urdf/accessories/vlp16_mount.urdf.xacro"/>
<xacro:include filename="$(find husky_description)/urdf/accessories/hdl-32e_mount.urdf.xacro"/>
<xacro:property name="M_PI" value="3.14159"/>
<!-- Base Size -->
<xacro:property name="base_x_size" value="0.98740000" />
<xacro:property name="base_y_size" value="0.57090000" />
<xacro:property name="base_z_size" value="0.24750000" />
<!-- Wheel Mounting Positions -->
<xacro:property name="wheelbase" value="0.5120" />
<xacro:property name="track" value="0.5708" />
<xacro:property name="wheel_vertical_offset" value="0.03282" />
<!-- Wheel Properties -->
<xacro:property name="wheel_length" value="0.1143" />
<xacro:property name="wheel_radius" value="0.1651" />
<!-- Base link is the center of the robot's bottom plate -->