motion planning 一起学习

shenlan 学院 motion planning 一起学习

打算买深蓝的motion planning for Mobile robots， 主要是讲规划算法的，有无一起学习的小伙伴？
一起学习，拼拼课哇
这门课口碑很好的，听同学推荐的打算看看

最近自学的ROS，附一个代码示例吧，不然说我文章太短 有广告嫌疑
ros : urdf 集成 gazebo 进行机器人仿真示例：

<robot name="my_camera" xmlns:xacro="http://wiki.ros.org/xacro">
    <xacro:property name="support_length" value="0.15" /> 
    <xacro:property name="support_radius" value="0.01" /> 
    <xacro:property name="laser_length" value="0.05" /> 
    <xacro:property name="laser_radius" value="0.03" /> 

    <xacro:property name="support_x" value="0.0" />
    <xacro:property name="support_y" value="0.0" />
    <xacro:property name="support_z" value="${base_length /2 + support_length /2}" />
    <xacro:property name="laser_x" value="0.0" />
    <xacro:property name="laser_y" value="0.0" />
    <xacro:property name="laser_z" value="${support_length / 2 + laser_length / 2}" />
    <xacro:property name="support_m" value="0.02" />
    <xacro:property name="laser_m" value="0.1" />

<!-- support link and joint -->
    <link name="support">
        <visual>
            <geometry>
                <cylinder radius="${support_radius}" length="${support_length}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
            <material name="green">
                <color rgba="0.1 1 0.0 0.8" />
            </material>
        </visual>
        <collision>
            <geometry>
                <cylinder radius="${support_radius}" length="${support_length}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
        </collision>
        <xacro:cylinder_inertial_matrix m="${support_m}" r="${support_radius}" h="${support_length}"/>

    </link>
    <joint name="support2base_link" type="fixed">
        <parent link="base_link" />
        <child link="support" />
        <origin xyz="${support_x} ${support_y} ${support_z}" />
    </joint>
    <gazebo reference="support">
        <material>Gazebo/White</material>
    </gazebo>
<!-- laser link and joint-->
    <link name="laser">
        <visual>
            <geometry>
                <cylinder radius="${laser_radius}" length="${laser_length}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
            <material name="red1">
                <color rgba="0.7 0.2 0.1 0.8" />
            </material>
        </visual>
        <collision>
            <geometry>
                <cylinder radius="${laser_radius}" length="${laser_length}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
        </collision>
        <xacro:cylinder_inertial_matrix m="${laser_m}" r="${laser_radius}" h="${laser_length}"/>

    </link>

    <joint name="laser2support" type="fixed">
        <parent link="support" />
        <child link="laser" />
        <origin xyz="${laser_x} ${laser_y} ${laser_z}" />
    </joint>
    <gazebo reference="laser">
        <material>Gazebo/Black</material>
    </gazebo>
    
</robot>