建造属于你的无人驾驶车——（四）URDF模型转换为XACRO模型
建造属于你的无人驾驶车！
本专栏持续更新中…
程序源码：https://github.com/kkmd66/ZZX_RUN
Solidworks模型文件：https://github.com/kkmd66/ZZX_RUN/releases
URDF模型转换为XACRO模型
写在前面：
XACRO模型相比于URDF模型有很多优势，我这边均未使用，因为Solidworks已经导出了大量文件，个人认为在该URDF模型中加入必要插件和描述即可。即本文不适合用来学习XACRO模型，只适合快速将URDF转为XACRO。
第一步，添加XACRO描述
xmlns:xacro="http://www.ros.org/wiki/xacro"
第二步，在URDF添加后缀.XACRO
此时，该文件即可被识别为XACRO模型。
源码中模型位置：src/zzx_run_gazebo/urdf/zzx_run_robot.urdf.xacro
该XML文件最下面插件Drive controller、ros_control plugin、friction为《建造属于你的无人驾驶车——（七）为XACRO模型添加GAZEBO属性与运动控制插件》中需要添加的内容，此阶段可不添加。
即下文：
<robot xmlns:xacro="http://www.ros.org/wiki/xacro"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
name="zzx_run_robot">
<link
name="base_link">
<inertial>
<origin
xyz="0.00741047992278929 -0.00341114189657439 0.114186284669122"
rpy="0 0 0" />
<mass
value="3.96236436148786" />
<inertia
ixx="0.178506185725259"
ixy="0.000108304306880873"
ixz="0.000169549055394087"
iyy="0.404759631587269"
iyz="1.00448230235288E-06"
izz="0.561130623679876" />
inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/base_link.STL" />
geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
material>
visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/base_link.STL" />
geometry>
collision>
link>
<link name="base_footprint">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
geometry>
visual>
link>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 0.06746" rpy="0 0 0" />
<parent link="base_footprint"/>
<child link="base_link" />
joint>
<link
name="left_front_wheel_link">
<inertial>
<origin
xyz="-4.78387528979329E-07 0.0527999229567212 -1.21519264034697E-06"
rpy="0 0 0" />
<mass
value="5.58816289074736" />
<inertia
ixx="0.0467264175417539"
ixy="4.21922638423182E-10"
ixz="4.31360254637763E-10"
iyy="0.0872654610518181"
iyz="5.11812738578019E-11"
izz="0.0467264187453853" />
inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/left_front_wheel_link.STL" />
geometry>
<material
name="">
<color
rgba="0.83921568627451 0.83921568627451 0.92156862745098 1" />
material>
visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/left_front_wheel_link.STL" />
geometry>
collision>
link>
<joint
name="left_front_wheel_link_joint"
type="continuous">
<origin
xyz="0.390000000000006 0.309999999999989 0.0849999999999932"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="left_front_wheel_link" />
<axis
xyz="0 1 0" />
joint>
<link
name="left_behind_wheel_link">
<inertial>
<origin
xyz="1.31378196099874E-07 0.0527999220844182 -1.30022679351027E-06"
rpy="0 0 0" />
<mass
value="5.58816261475792" />
<inertia
ixx="0.0467264178495617"
ixy="-1.48432408253074E-10"
ixz="3.45934344448938E-11"
iyy="0.0872654610290871"
iyz="5.288073487882E-10"
izz="0.0467264184119642" />
inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/left_behind_wheel_link.STL" />
geometry>
<material
name="">
<color
rgba="0.83921568627451 0.83921568627451 0.92156862745098 1" />
material>
visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/left_behind_wheel_link.STL" />
geometry>
collision>
link>
<joint
name="left_behind_wheel_link_joint"
type="continuous">
<origin
xyz="-0.389999999999994 0.31 0.0850000000000068"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="left_behind_wheel_link" />
<axis
xyz="0 1 0" />
joint>
<link
name="right_front_wheel_link">
<inertial>
<origin
xyz="1.23487383696386E-06 -0.052800077037773 4.18657537137879E-07"
rpy="0 0 0" />
<mass
value="5.58816289283226" />
<inertia
ixx="0.0467264183997509"
ixy="-4.77846900738126E-10"
ixz="9.0196657416584E-11"
iyy="0.0872654610291803"
iyz="-2.63885619866361E-10"
izz="0.0467264178624116" />
inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/right_front_wheel_link.STL" />
geometry>
<material
name="">
<color
rgba="0.83921568627451 0.83921568627451 0.92156862745098 1" />
material>
visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/right_front_wheel_link.STL" />
geometry>
collision>
link>
<joint
name="right_front_wheel_link_joint"
type="continuous">
<origin
xyz="0.389999999999997 -0.309999999999999 0.0849999999999932"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="right_front_wheel_link" />
<axis
xyz="0 1 0" />
joint>
<link
name="right_behind_wheel_link">
<inertial>
<origin
xyz="-1.17487549072814E-06 -0.0528000779026511 5.64813343303938E-07"
rpy="0 0 0" />
<mass
value="5.58816261843466" />
<inertia
ixx="0.0467264186791865"
ixy="2.30502475654598E-11"
ixz="-5.12433901318596E-10"
iyy="0.0872654610531356"
iyz="-4.26967668323502E-10"
izz="0.0467264176094793" />
inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/right_behind_wheel_link.STL" />
geometry>
<material
name="">
<color
rgba="0.83921568627451 0.83921568627451 0.92156862745098 1" />
material>
visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/right_behind_wheel_link.STL" />
geometry>
collision>
link>
<joint
name="right_behind_wheel_link_joint"
type="continuous">
<origin
xyz="-0.390000000000003 -0.309999999999988 0.0850000000000068"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="right_behind_wheel_link" />
<axis
xyz="0 1 0" />
joint>
<link
name="camera_link">
<inertial>
<origin
xyz="-0.0168162954023792 0.00256898920993011 -0.000512016798250026"
rpy="0 0 0" />
<mass
value="0.146986742470214" />
<inertia
ixx="0.000382731548245758"
ixy="4.93963664924208E-07"
ixz="-2.21084683413792E-07"
iyy="2.18219626833256E-05"
iyz="1.36591231466188E-08"
izz="0.00039064219791682" />
inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/camera_link.STL" />
geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
material>
visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/camera_link.STL" />
geometry>
collision>
link>
<joint
name="camera_link_joint"
type="fixed">
<origin
xyz="0.386266044151218 -0.124376808120098 0.277447441433298"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="camera_link" />
<axis
xyz="0 0 0" />
joint>
<link name="camera_frame_optical"/>
<joint name="camera_optical_joint" type="fixed">
<origin xyz="0 0 0" rpy="0 0 0"/>
<parent link="camera_link"/>
<child link="camera_frame_optical"/>
joint>
<link
name="lidar_link">
<inertial>
<origin
xyz="-0.000294907920402432 -2.58127452130996E-06 0.0357873616759956"
rpy="0 0 0" />
<mass
value="0.584837208798273" />
<inertia
ixx="0.000628734791137339"
ixy="1.12598116749922E-10"
ixz="6.85180097758129E-08"
iyy="0.000630029723696654"
iyz="-5.00698245263915E-08"
izz="0.000749153306350983" />
inertial>
<visual>
<origin
xyz="0 0 -0.04"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/lidar_link.STL" />
geometry>
<material
name="">
<color
rgba="0.792156862745098 0.819607843137255 0.933333333333333 1" />
material>
visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/lidar_link.STL" />
geometry>
collision>
link>
<joint
name="lidar_link_joint"
type="fixed">
<origin
xyz="0.365857864376286 -0.120857864376271 0.396652891956056"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="lidar_link" />
<axis
xyz="0 0 0" />
joint>
<link
name="sensor_front_left_link">
<inertial>
<origin
xyz="0.000750000000000028 0 3.09553724072015E-05"
rpy="0 0 0" />
<mass
value="0.00132898274514749" />
<inertia
ixx="2.65815808309703E-07"
ixy="-3.24870024445377E-21"
ixz="-7.30857667981816E-22"
iyy="4.3932216790417E-08"
iyz="2.51382133997089E-23"
izz="2.22381960048716E-07" />
inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/sensor_front_left_link.STL" />
geometry>
<material
name="">
<color
rgba="0.00784313725490196 0.501960784313725 0.823529411764706 1" />
material>
visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/sensor_front_left_link.STL" />
geometry>
collision>
link>
<joint
name="sensor_front_left_link_joint"
type="fixed">
<origin
xyz="0.496500000000005 0.251999999999993 0.0812075922005525"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="sensor_front_left_link" />
<axis
xyz="0 0 0" />
joint>
<link
name="sensor_front_right_link">
<inertial>
<origin
xyz="-0.00109177850153874 -7.49896209573109E-08 -2.31929230855993E-05"
rpy="0 0 0" />
<mass
value="7.00274812620844E-05" />
<inertia
ixx="6.82924437603274E-10"
ixy="2.65325849768784E-15"
ixz="-1.17242461319838E-12"
iyy="1.19817207558257E-10"
iyz="5.21250136782328E-15"
izz="5.98449941960741E-10" />
inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/sensor_front_right_link.STL" />
geometry>
<material
name="">
<color
rgba="0.666666666666667 0.698039215686274 0.768627450980392 1" />
material>
visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/sensor_front_right_link.STL" />
geometry>
collision>
link>
<joint
name="sensor_front_right_link_joint"
type="fixed">
<origin
xyz="0.496503236661323 -0.252916659440427 0.081388179281911"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="sensor_front_right_link" />
<axis
xyz="0 0 0" />
joint>
<link
name="sensor_behind_left_link">
<inertial>
<origin
xyz="-0.000750000000000028 5.55111512312578E-17 3.09553724072015E-05"
rpy="0 0 0" />
<mass
value="0.00132898274514748" />
<inertia
ixx="2.65815808309701E-07"
ixy="-3.19304338349288E-21"
ixz="-7.5601583612258E-22"
iyy="4.39322167904166E-08"
iyz="-3.65599011246738E-22"
izz="2.22381960048715E-07" />
inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/sensor_behind_left_link.STL" />
geometry>
<material
name="">
<color
rgba="0.00784313725490196 0.501960784313725 0.823529411764706 1" />
material>
visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/sensor_behind_left_link.STL" />
geometry>
collision>
link>
<joint
name="sensor_behind_left_link_joint"
type="fixed">
<origin
xyz="-0.496499999999995 0.253000000000007 0.0812075922005699"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="sensor_behind_left_link" />
<axis
xyz="0 0 0" />
joint>
<link
name="sensor_behind_right_link">
<inertial>
<origin
xyz="-0.000750000000000028 0 3.09553724072292E-05"
rpy="0 0 0" />
<mass
value="0.00132898274514749" />
<inertia
ixx="2.65815808309703E-07"
ixy="-3.01916904385809E-21"
ixz="-8.29243934464277E-22"
iyy="4.39322167904169E-08"
iyz="-1.53436981481006E-22"
izz="2.22381960048716E-07" />
inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/sensor_behind_right_link.STL" />
geometry>
<material
name="">
<color
rgba="0.00784313725490196 0.501960784313725 0.823529411764706 1" />
material>
visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/sensor_behind_right_link.STL" />
geometry>
collision>
link>
<joint
name="sensor_behind_right_link_joint"
type="fixed">
<origin
xyz="-0.496500000000002 -0.252999999999993 0.0812075922005699"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="sensor_behind_right_link" />
<axis
xyz="0 0 0" />
joint>
<link
name="sensor_left_link">
<inertial>
<origin
xyz="-5.20417042793042E-18 0.000749999999999973 3.09553724072292E-05"
rpy="0 0 0" />
<mass
value="0.00132898274514749" />
<inertia
ixx="4.39322167904169E-08"
ixy="3.25536946488268E-21"
ixz="3.07236956960054E-21"
iyy="2.65815808309703E-07"
iyz="1.1614249076827E-24"
izz="2.22381960048716E-07" />
inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/sensor_left_link.STL" />
geometry>
<material
name="">
<color
rgba="0.00784313725490196 0.501960784313725 0.823529411764706 1" />
material>
visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/sensor_left_link.STL" />
geometry>
collision>
link>
<joint
name="sensor_left_link_joint"
type="fixed">
<origin
xyz="-0.0109999999999945 0.2965 0.0798244648313157"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="sensor_left_link" />
<axis
xyz="0 0 0" />
joint>
<link
name="sensor_right_link">
<inertial>
<origin
xyz="1.73472347597681E-18 -0.000750000000000028 3.09553724072154E-05"
rpy="0 0 0" />
<mass
value="0.00132898274514748" />
<inertia
ixx="4.39322167904168E-08"
ixy="3.2596193594168E-21"
ixz="3.15270186615642E-21"
iyy="2.65815808309702E-07"
iyz="3.06525351744164E-24"
izz="2.22381960048716E-07" />
inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/sensor_right_link.STL" />
geometry>
<material
name="">
<color
rgba="0.00784313725490196 0.501960784313725 0.823529411764706 1" />
material>
visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://zzx_run_description/meshes/sensor_right_link.STL" />
geometry>
collision>
link>
<joint
name="sensor_right_link_joint"
type="fixed">
<origin
xyz="-0.0120000000000028 -0.2965 0.0798244648313158"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="sensor_right_link" />
<axis
xyz="0 0 0" />
joint>
<gazebo reference="lidar_link">
<sensor type="ray" name="rplidar">
<pose>0 0 0 0 0 0pose>
<visualize>falsevisualize>
<update_rate>5.5update_rate>
<ray>
<scan>
<horizontal>
<samples>360samples>
<resolution>1resolution>
<min_angle>-3min_angle>
<max_angle>3max_angle>
horizontal>
scan>
<range>
<min>0.10min>
<max>6.0max>
<resolution>0.01resolution>
range>
<noise>
<type>gaussiantype>
<mean>0.0mean>
<stddev>0.01stddev>
noise>
ray>
<plugin name="gazebo_rplidar" filename="libgazebo_ros_laser.so">
<topicName>/scantopicName>
<frameName>lidar_linkframeName>
plugin>
sensor>
gazebo>
<gazebo>
<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
<updateRate>100.0updateRate>
<robotNamespace>robotNamespace>
<leftFrontJoint>left_front_wheel_link_jointleftFrontJoint>
<rightFrontJoint>right_front_wheel_link_jointrightFrontJoint>
<leftRearJoint>left_behind_wheel_link_jointleftRearJoint>
<rightRearJoint>right_behind_wheel_link_jointrightRearJoint>
<wheelSeparation>0.64wheelSeparation>
<wheelDiameter>0.33wheelDiameter>
<commandTopic>cmd_velcommandTopic>
<odometryTopic>odomodometryTopic>
<robotBaseFrame>base_footprintrobotBaseFrame>
<odometryFrame>odomodometryFrame>
<torque>1000torque>
<topicName>cmd_veltopicName>
<broadcastTF>1broadcastTF>
plugin>
gazebo>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/zzx_run_robotrobotNamespace>
<legacyModeNS>truelegacyModeNS>
plugin>
gazebo>
<gazebo reference="left_front_wheel_link">
<mu1>10000mu1>
<mu2>10000mu2>
<kp>10000000kp>
<kd>1kd>
gazebo>
<gazebo reference="left_behind_wheel_link">
<mu1>10000mu1>
<mu2>10000mu2>
<kp>10000000kp>
<kd>1kd>
gazebo>
<gazebo reference="right_front_wheel_link">
<mu1>10000mu1>
<mu2>10000mu2>
<kp>10000000kp>
<kd>1kd>
gazebo>
<gazebo reference="right_behind_wheel_link">
<mu1>10000mu1>
<mu2>10000mu2>
<kp>10000000kp>
<kd>1kd>
gazebo>
robot>
最后
有问题可以和我交流哦~
wecht id：kkmd66-2