Robot Operating System (ROS)学习笔记2---使用smartcar进行仿真
Posted 林先森_007
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搭建环境：XMWare Ubuntu14.04 ROS（indigo）
转载自古月居 转载连接：http://www.guyuehome.com/248
一、模型完善
文件夹urdf下，创建gazebo.urdf.xacro、smartcar.urdf.xacro、smartcar_body.urdf.xacro三个文件
1、机器人主体smartcar_body.urdf.xacro文件
1 <?xml version="1.0"?> 2 <robot name="smartcar" xmlns:xacro="http://ros.org/wiki/xacro"> 3 <property name="M_PI" value="3.14159"/> 4 5 <!-- Macro for SmartCar body. Including Gazebo extensions, but does not include Kinect --> 6 <include filename="$(find smartcar_description)/urdf/gazebo.urdf.xacro"/> 7 8 <property name="base_x" value="0.33" /> 9 <property name="base_y" value="0.33" /> 10 11 <xacro:macro name="smartcar_body"> 12 13 14 <link name="base_link"> 15 <inertial> 16 <origin xyz="0 0 0.055"/> 17 <mass value="1.0" /> 18 <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> 19 </inertial> 20 <visual> 21 <geometry> 22 <box size="0.25 .16 .05"/> 23 </geometry> 24 <origin rpy="0 0 0" xyz="0 0 0.055"/> 25 <material name="blue"> 26 <color rgba="0 0 .8 1"/> 27 </material> 28 </visual> 29 <collision> 30 <origin rpy="0 0 0" xyz="0 0 0.055"/> 31 <geometry> 32 <box size="0.25 .16 .05" /> 33 </geometry> 34 </collision> 35 </link> 36 37 38 <link name="left_front_wheel"> 39 <inertial> 40 <origin xyz="0.08 0.08 0.025"/> 41 <mass value="0.1" /> 42 <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> 43 </inertial> 44 <visual> 45 <geometry> 46 <cylinder length=".02" radius="0.025"/> 47 </geometry> 48 <material name="black"> 49 <color rgba="0 0 0 1"/> 50 </material> 51 </visual> 52 <collision> 53 <origin rpy="0 1.57075 1.57075" xyz="0.08 0.08 0.025"/> 54 <geometry> 55 <cylinder length=".02" radius="0.025"/> 56 </geometry> 57 </collision> 58 </link> 59 60 <joint name="left_front_wheel_joint" type="continuous"> 61 <axis xyz="0 0 1"/> 62 <parent link="base_link"/> 63 <child link="left_front_wheel"/> 64 <origin rpy="0 1.57075 1.57075" xyz="0.08 0.08 0.025"/> 65 <limit effort="100" velocity="100"/> 66 <joint_properties damping="0.0" friction="0.0"/> 67 </joint> 68 69 <link name="right_front_wheel"> 70 <inertial> 71 <origin xyz="0.08 -0.08 0.025"/> 72 <mass value="0.1" /> 73 <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> 74 </inertial> 75 <visual> 76 <geometry> 77 <cylinder length=".02" radius="0.025"/> 78 </geometry> 79 <material name="black"> 80 <color rgba="0 0 0 1"/> 81 </material> 82 </visual> 83 <collision> 84 <origin rpy="0 1.57075 1.57075" xyz="0.08 -0.08 0.025"/> 85 <geometry> 86 <cylinder length=".02" radius="0.025"/> 87 </geometry> 88 </collision> 89 </link> 90 91 <joint name="right_front_wheel_joint" type="continuous"> 92 <axis xyz="0 0 1"/> 93 <parent link="base_link"/> 94 <child link="right_front_wheel"/> 95 <origin rpy="0 1.57075 1.57075" xyz="0.08 -0.08 0.025"/> 96 <limit effort="100" velocity="100"/> 97 <joint_properties damping="0.0" friction="0.0"/> 98 </joint> 99 100 <link name="left_back_wheel"> 101 <inertial> 102 <origin xyz="-0.08 0.08 0.025"/> 103 <mass value="0.1" /> 104 <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> 105 </inertial> 106 <visual> 107 <geometry> 108 <cylinder length=".02" radius="0.025"/> 109 </geometry> 110 <material name="black"> 111 <color rgba="0 0 0 1"/> 112 </material> 113 </visual> 114 <collision> 115 <origin rpy="0 1.57075 1.57075" xyz="-0.08 0.08 0.025"/> 116 <geometry> 117 <cylinder length=".02" radius="0.025"/> 118 </geometry> 119 </collision> 120 </link> 121 122 <joint name="left_back_wheel_joint" type="continuous"> 123 <axis xyz="0 0 1"/> 124 <parent link="base_link"/> 125 <child link="left_back_wheel"/> 126 <origin rpy="0 1.57075 1.57075" xyz="-0.08 0.08 0.025"/> 127 <limit effort="100" velocity="100"/> 128 <joint_properties damping="0.0" friction="0.0"/> 129 </joint> 130 131 <link name="right_back_wheel"> 132 <inertial> 133 <origin xyz="-0.08 -0.08 0.025"/> 134 <mass value="0.1" /> 135 <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> 136 </inertial> 137 <visual> 138 <geometry> 139 <cylinder length=".02" radius="0.025"/> 140 </geometry> 141 <material name="black"> 142 <color rgba="0 0 0 1"/> 143 </material> 144 </visual> 145 <collision> 146 <origin rpy="0 1.57075 1.57075" xyz="-0.08 -0.08 0.025"/> 147 <geometry> 148 <cylinder length=".02" radius="0.025"/> 149 </geometry> 150 </collision> 151 </link> 152 153 154 <joint name="right_back_wheel_joint" type="continuous"> 155 <axis xyz="0 0 1"/> 156 <parent link="base_link"/> 157 <child link="right_back_wheel"/> 158 <origin rpy="0 1.57075 1.57075" xyz="-0.08 -0.08 0.025"/> 159 <limit effort="100" velocity="100"/> 160 <joint_properties damping="0.0" friction="0.0"/> 161 </joint> 162 163 <link name="head"> 164 <inertial> 165 <origin xyz="0.08 0 0.08"/> 166 <mass value="0.1" /> 167 <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> 168 </inertial> 169 <visual> 170 <geometry> 171 <box size=".02 .03 .03"/> 172 </geometry> 173 <material name="white"> 174 <color rgba="1 1 1 1"/> 175 </material> 176 </visual> 177 <collision> 178 <origin xyz="0.08 0 0.08"/> 179 <geometry> 180 <cylinder length=".02" radius="0.025"/> 181 </geometry> 182 </collision> 183 </link> 184 185 <joint name="tobox" type="fixed"> 186 <parent link="base_link"/> 187 <child link="head"/> 188 <origin xyz="0.08 0 0.08"/> 189 </joint> 190 </xacro:macro> 191 192 </robot>
2、gazebo属性部分gazebo.urdf.xacro
1 <?xml version="1.0"?> 2 3 <robot xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" 4 xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" 5 xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" 6 xmlns:xacro="http://ros.org/wiki/xacro" 7 name="smartcar_gazebo"> 8 9 <!-- ASUS Xtion PRO camera for simulation --> 10 <!-- gazebo_ros_wge100 plugin is in kt2_gazebo_plugins package --> 11 <xacro:macro name="smartcar_sim"> 12 <gazebo reference="base_link"> 13 <material>Gazebo/Blue</material> 14 </gazebo> 15 16 <gazebo reference="right_front_wheel"> 17 <material>Gazebo/FlatBlack</material> 18 </gazebo> 19 20 <gazebo reference="right_back_wheel"> 21 <material>Gazebo/FlatBlack</material> 22 </gazebo> 23 24 <gazebo reference="left_front_wheel"> 25 <material>Gazebo/FlatBlack</material> 26 </gazebo> 27 28 <gazebo reference="left_back_wheel"> 29 <material>Gazebo/FlatBlack</material> 30 </gazebo> 31 32 <gazebo reference="head"> 33 <material>Gazebo/White</Robot Operating System (ROS)学习笔记4---语音控制如何更加便捷的调试ROS（Robot Operating System）
Robot Operating System (ROS)学习笔记2---使用smartcar进行仿真
Robot Operating System (ROS)学习笔记---创建简单的机器人模型smartcar
ROS1/2最强学术科研参考书-Springer Book Robot Operating System (ROS) The Complete Reference (Volume 7)