ROS探索（4）——SmartCar模擬
阿新 • • 發佈：2019-01-26
在之前的部落格中描述了在 rviz 下的 TurtleBot 的模擬和簡易模型 SmartCar 的搭建，在本節介紹一下如何對 SmartCar 進行 rviz 上的模擬
由於 ROS 對 *.urdf 檔案的支援不是很好，因此使用巨集定義的，拓展性、相容性較好 *.xacro 檔案替換 *.urdf 進行優化。
*.xacro 檔案主要包括3部分：smartcar_body.urdf.xacro（SmartCar模型描述檔案），gazebo.urdf.xacro（gazebo屬性描述檔案），smartcar.urdf.xacro（主體控制檔案）
smartcar_body.urdf.xacro（SmartCar模型描述檔案）：
gazebo.urdf.xacro（gazebo屬性描述檔案）：<?xml version="1.0"?> <robot name="smartcar" xmlns:xacro="http://ros.org/wiki/xacro"> <property name="M_PI" value="3.14159"/> <!-- Macro for SmartCar body. Including Gazebo extensions, but does not include Kinect --> <include filename="$(find smartcar_description)/urdf/gazebo.urdf.xacro"/> <property name="base_x" value="0.33" /> <property name="base_y" value="0.33" /> <xacro:macro name="smartcar_body"> <link name="base_link"> <inertial> <origin xyz="0 0 0.055"/> <mass value="100.0" /> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> </inertial> <visual> <geometry> <box size="0.25 .16 .05"/> </geometry> <origin rpy="0 0 0" xyz="0 0 0.055"/> <material name="blue"> <color rgba="0 0 .8 1"/> </material> </visual> <collision> <origin rpy="0 0 0" xyz="0 0 0.055"/> <geometry> <box size="0.25 .16 .05" /> </geometry> </collision> </link> <link name="left_front_wheel"> <inertial> <origin xyz="0.08 0.08 0.025"/> <mass value="1" /> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> </inertial> <visual> <geometry> <cylinder length=".02" radius="0.025"/> </geometry> <material name="black"> <color rgba="0 0 0 1"/> </material> </visual> <collision> <origin rpy="0 1.57075 1.57075" xyz="0.08 0.08 0.025"/> <geometry> <cylinder length=".02" radius="0.025"/> </geometry> </collision> </link> <joint name="left_front_wheel_joint" type="continuous"> <axis xyz="0 0 1"/> <parent link="base_link"/> <child link="left_front_wheel"/> <origin rpy="0 1.57075 1.57075" xyz="0.08 0.08 0.025"/> <limit effort="100" velocity="100"/> <joint_properties damping="0.0" friction="0.0"/> </joint> <link name="right_front_wheel"> <inertial> <origin xyz="0.08 -0.08 0.025"/> <mass value="1" /> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> </inertial> <visual> <geometry> <cylinder length=".02" radius="0.025"/> </geometry> <material name="black"> <color rgba="0 0 0 1"/> </material> </visual> <collision> <origin rpy="0 1.57075 1.57075" xyz="0.08 -0.08 0.025"/> <geometry> <cylinder length=".02" radius="0.025"/> </geometry> </collision> </link> <joint name="right_front_wheel_joint" type="continuous"> <axis xyz="0 0 1"/> <parent link="base_link"/> <child link="right_front_wheel"/> <origin rpy="0 1.57075 1.57075" xyz="0.08 -0.08 0.025"/> <limit effort="100" velocity="100"/> <joint_properties damping="0.0" friction="0.0"/> </joint> <link name="left_back_wheel"> <inertial> <origin xyz="-0.08 0.08 0.025"/> <mass value="1" /> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> </inertial> <visual> <geometry> <cylinder length=".02" radius="0.025"/> </geometry> <material name="black"> <color rgba="0 0 0 1"/> </material> </visual> <collision> <origin rpy="0 1.57075 1.57075" xyz="-0.08 0.08 0.025"/> <geometry> <cylinder length=".02" radius="0.025"/> </geometry> </collision> </link> <joint name="left_back_wheel_joint" type="continuous"> <axis xyz="0 0 1"/> <parent link="base_link"/> <child link="left_back_wheel"/> <origin rpy="0 1.57075 1.57075" xyz="-0.08 0.08 0.025"/> <limit effort="100" velocity="100"/> <joint_properties damping="0.0" friction="0.0"/> </joint> <link name="right_back_wheel"> <inertial> <origin xyz="-0.08 -0.08 0.025"/> <mass value="1" /> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> </inertial> <visual> <geometry> <cylinder length=".02" radius="0.025"/> </geometry> <material name="black"> <color rgba="0 0 0 1"/> </material> </visual> <collision> <origin rpy="0 1.57075 1.57075" xyz="-0.08 -0.08 0.025"/> <geometry> <cylinder length=".02" radius="0.025"/> </geometry> </collision> </link> <joint name="right_back_wheel_joint" type="continuous"> <axis xyz="0 0 1"/> <parent link="base_link"/> <child link="right_back_wheel"/> <origin rpy="0 1.57075 1.57075" xyz="-0.08 -0.08 0.025"/> <limit effort="100" velocity="100"/> <joint_properties damping="0.0" friction="0.0"/> </joint> <link name="head"> <inertial> <origin xyz="0.08 0 0.08"/> <mass value="1" /> <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/> </inertial> <visual> <geometry> <box size=".02 .03 .03"/> </geometry> <material name="white"> <color rgba="1 1 1 1"/> </material> </visual> <collision> <origin xyz="0.08 0 0.08"/> <geometry> <cylinder length=".02" radius="0.025"/> </geometry> </collision> </link> <joint name="tobox" type="fixed"> <parent link="base_link"/> <child link="head"/> <origin xyz="0.08 0 0.08"/> </joint> </xacro:macro> </robot>
smartcar.urdf.xacro（主體控制檔案）<?xml version="1.0"?> <robot xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://ros.org/wiki/xacro" name="smartcar_gazebo"> <!-- ASUS Xtion PRO camera for simulation --> <!-- gazebo_ros_wge100 plugin is in kt2_gazebo_plugins package --> <xacro:macro name="smartcar_sim"> <gazebo reference="base_link"> <material>Gazebo/Blue</material> <turnGravityOff>false</turnGravityOff> </gazebo> <gazebo reference="right_front_wheel"> <material>Gazebo/FlatBlack</material> </gazebo> <gazebo reference="right_back_wheel"> <material>Gazebo/FlatBlack</material> </gazebo> <gazebo reference="left_front_wheel"> <material>Gazebo/FlatBlack</material> </gazebo> <gazebo reference="left_back_wheel"> <material>Gazebo/FlatBlack</material> </gazebo> <gazebo reference="head"> <material>Gazebo/White</material> </gazebo> </xacro:macro> </robot>
<?xml version="1.0"?>
<robot name="smartcar"
xmlns:xi="http://www.w3.org/2001/XInclude"
xmlns:gazebo="http://playerstage.sourceforge.net/gazebo/xmlschema/#gz"
xmlns:model="http://playerstage.sourceforge.net/gazebo/xmlschema/#model"
xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
xmlns:body="http://playerstage.sourceforge.net/gazebo/xmlschema/#body"
xmlns:geom="http://playerstage.sourceforge.net/gazebo/xmlschema/#geom"
xmlns:joint="http://playerstage.sourceforge.net/gazebo/xmlschema/#joint"
xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
xmlns:rendering="http://playerstage.sourceforge.net/gazebo/xmlschema/#rendering"
xmlns:renderable="http://playerstage.sourceforge.net/gazebo/xmlschema/#renderable"
xmlns:physics="http://playerstage.sourceforge.net/gazebo/xmlschema/#physics"
xmlns:xacro="http://ros.org/wiki/xacro">
<include filename="$(find smartcar_description)/urdf/smartcar_body.urdf.xacro" />
<!-- Body of SmartCar, with plates, standoffs and Create (including sim sensors) -->
<smartcar_body/>
<smartcar_sim/>
</robot>
因此使用cp指令將 /opt/ros/indigo/share/urdf_tutorial 目錄下的 urdf.rviz拷貝到專案目錄 ~/catkin_ws/src/smartcar_description 下，然後參照 Git 提供的Demo rbx1 的sim.rviz（在 rviz 下的 TurtleBot 的模擬時使用過，檔案位置在 rbx1/rbx1_nav 目錄下），主要更改部分是將 Fixed Frame 的物件改為 odom。更改部分Visualization Manager到
Tools之間，程式碼如下：
Panels:
- Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
Splitter Ratio: 0.5
Tree Height: 565
- Class: rviz/Selection
Name: Selection
- Class: rviz/Tool Properties
Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.588679
- Class: rviz/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 0.5
Class: rviz/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.03
Value: Lines
Name: Grid
Normal Cell Count: 0
Offset:
X: 0
Y: 0
Z: 0
Plane: XY
Plane Cell Count: 20
Reference Frame: odom
Value: true
- Angle Tolerance: 0.05
Class: rviz/Odometry
Color: 221; 200; 14
Enabled: true
Keep: 100
Length: 0.6
Name: Odometry
Position Tolerance: 0.1
Topic: /odom
Value: true
- Angle Tolerance: 0.1
Class: rviz/Odometry
Color: 253; 124; 0
Enabled: false
Keep: 100
Length: 0.6
Name: Odometry EKF
Position Tolerance: 0.1
Topic: /odom
Value: false
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_front_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_front_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
left_back_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
right_back_wheel:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
head:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 31; 31; 31
Fixed Frame: odom
Frame Rate: 30
Name: root
Tools:
- Class: rviz/Interact
Hide Inactive Objects: true
- Class: rviz/MoveCamera
- Class: rviz/Select
- Class: rviz/FocusCamera
- Class: rviz/Measure
- Class: rviz/SetInitialPose
Topic: /initialpose
- Class: rviz/SetGoal
Topic: /move_base_simple/goal
- Class: rviz/PublishPoint
Single click: true
Topic: /clicked_point
Value: true
Views:
Current:
Class: rviz/Orbit
Distance: 10
Focal Point:
X: 0
Y: 0
Z: 0
Name: Current View
Near Clip Distance: 0.01
Pitch: 0.465398
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.885398
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 882
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd00000004000000000000013c000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1216
X: 53
Y: 60
<launch>
<param name="/use_sim_time" value="false" />
<!-- Load the URDF/Xacro model of our robot -->
<arg name="urdf_file" default="$(find xacro)/xacro.py '$(find smartcar_description)/urdf/smartcar.urdf.xacro'" />
<arg name="gui" default="false" />
<param name="robot_description" command="$(arg urdf_file)" />
<param name="use_gui" value="$(arg gui)"/>
<node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen">
<rosparam file="$(find smartcar_description)/config/smartcar_arbotix.yaml" command="load" />
<param name="sim" value="true"/>
</node>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" >
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher">
<param name="publish_frequency" type="double" value="20.0" />
</node>
<!-- We need a static transforms for the wheels -->
<node pkg="tf" type="static_transform_publisher" name="odom_left_wheel_broadcaster" args="0 0 0 0 0 0 /base_link /left_front_link 100" />
<node pkg="tf" type="static_transform_publisher" name="odom_right_wheel_broadcaster" args="0 0 0 0 0 0 /base_link /right_front_link 100" />
<!--<node name="rviz" pkg="rviz" type="rviz" args="-d $(find smartcar_description)/urdf.vcg" />-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find smartcar_description)/smartcar.rviz" />
</launch>
$ roscore
開啟一個新視窗：
$ source catkin_ws/devel/setup.bash
$ roslaunch smartcar_description smartcar_display.rviz.launch
開啟一個新視窗：
$ source catkin_ws/devel/setup.bash
$ rostopic pub -r 10 /cmd_vel geometry_msgs/Twist '{linear: {x: 0.5, y: 0, z: 0}, angular: {x: 0, y: 0, z: 0.5}}'
參考：
http://blog.csdn.net/hcx25909/article/details/8951833
http://wiki.ros.org/urdf/Tutorials/Using%20Xacro%20to%20Clean%20Up%20a%20URDF%20File