ROS学习记录(二)————使用smartcar进行仿真(用.xacro文件来运行rviz)

时间:2022-01-10 00:11:24

我发现一个学习ROS系统的好网站:

创客智造
http://www.ncnynl.com/ 

这里面关于ROS的各个方面都有很详细的介绍。

这周,不,上周我对整个ROS是绝望的,我用一个一个下午的时间在敲代码进行这个例程的学习,可以说是费劲磨难,怎么也弄不出来,网上的各种帖子都找遍了,但没有有个有详细的介绍到底该怎么运行出来的,这之间,我有时以为是版本的原因,就把Ubuntu的版本从12.04换到14.04还是不行;有时以为是vim编辑器的缘故,然后,找帖子千辛万苦的装上,当然,还是不行++;又觉得是gazebo模拟器没装的原因,当然,结果和前两个一样,又是一场空,关键是生气,“到底也要死个明白啊!”我一星期都不知道哪里出了问题!所幸的是,偶然的机会找到这么一个网站,试试的感觉去尝试一下,发现,竟然还不错哟!竟然能运行出来。天呐,当看到小车在转圈的时候,我都激动的想哭ROS学习记录(二)————使用smartcar进行仿真(用.xacro文件来运行rviz)

下面是过程:

再插一句,我虽然还不太确定,但有种隐约的感觉,那就是跟版本有关系,我换了好几个版本,之前用的易科的开发版,直接给弃了,老是出毛病,我是直接装的华东师范大学智能机器人运动与视觉实验室主办2015中国ROS Summer School中制作的Ubuntu for ROS,下面是地址:

http://www.ncnynl.com/archives/201608/497.html 

ROS学习记录(二)————使用smartcar进行仿真(用.xacro文件来运行rviz)

切入正题:

首先,安装urdf_tutorial,可以使用其中的例子

$ sudo apt-get install ros-indigo-urdf-tutorial

ROS学习记录(二)————使用smartcar进行仿真(用.xacro文件来运行rviz)

这里面需要输入密码:aicrobo

接着,安装liburdfdom-tools,提供对urdf文件的检查

$ sudo apt-get install liburdfdom-tools

可能是我网速的事儿,我感觉有点慢。因为这个过程是需要是从网上下载的,所有要保证联网状态才行。

ROS学习记录(二)————使用smartcar进行仿真(用.xacro文件来运行rviz)

接下来的步骤,就是很多帖子里面没有提到的了,也不知道是我太笨,还是人家太聪明,我都不知道该咋弄,结果人家的帖子一下子就跳到了下一个过程了。

$ cd ~/catkin_ws/src
$catkin_create_pkg smartcar_description std_msgs rospy roscpp urdf

这两个的命令的意思是找到catkin_ws下的src文件,并在这个文件夹里面进行下面的操作(第一句);在这个文件夹(src)里面建立一个名为“smartcar_description”的文件夹(正式的叫创建硬件描述包),我们这个例程的所有的内容都要放到这个文件夹里面,并且生成一下配套的一下文件

ROS学习记录(二)————使用smartcar进行仿真(用.xacro文件来运行rviz)

会在home里面生成配套的文件:

ROS学习记录(二)————使用smartcar进行仿真(用.xacro文件来运行rviz)

smartcar_description里面就是这个样子:

ROS学习记录(二)————使用smartcar进行仿真(用.xacro文件来运行rviz)

然后,就是在smartcar_description中建立urdf,launch,config三个文件夹,并在里面存放一些文件:

$cd smartcar_description //定位到这个文件夹下
$mkdir urdf
$cd urdf //生成一个叫urdf的文件夹
$mkdir launch
$cd launch //生成一个叫launch的文件夹
$cd urdf //生成一个叫config的文件夹
$mkdir config
$cd urdf
$cd ~/catkin_ws/src/urdf //选中urdf文件夹

$touch smartcar_body.urdf.xacro //在urdf文件夹下创建一个叫smartcar_body.urdf.xacro的文件

然后呢,就是没有什么技术含量的复制,粘贴了。

把下面的这些代码,复制下来,然后,打开新建的smartcar_body.urdf.xacro文件,像粘贴word的一样,粘上去,保存一下。

1.机器人主体smartcar_body.urdf.xacro


<?xml version="1.0"?>
<robot name="smartcar" xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:property name="M_PI" value="3.14159"/>
<!-- Macro for SmartCar body. Including Gazebo extensions, but does not include Kinect -->
<xacro:include filename="$(find smartcar_description)/urdf/gazebo.urdf.xacro"/>
<xacro:property name="base_x" value="0.33" />
<xacro: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="1.0" />
<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="0.1" />
<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="0.1" />


<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="0.1" />


<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="0.1" />


<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="0.1" />


<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>

 

然后,接着把下面的几个也按这样的方法,创建起来。

2.gazebo属性部分 gazebo.urdf.xacro

touch gazebo.urdf.xacro

把下面的内容粘贴上去(和上面的一样)

<?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>

</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>

接着,

3、主文件 smartcar.urdf.xacro

touch smartcar.urdf.xacro
<?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">



<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>

这三个文件建立好了:

ROS学习记录(二)————使用smartcar进行仿真(用.xacro文件来运行rviz)

同样,再在smartcar_description文件夹下的luanch文件夹中建立下面的文件:

$ cd ~/catkin_ws/src/launch
$ touch smartcar_display.rviz.launch

和之前一样,把下面的代码粘进去

<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.rviz" />

</launch>

ROS学习记录(二)————使用smartcar进行仿真(用.xacro文件来运行rviz)

 

再在smartcar_description文件夹下的config文件夹中建立下面的文件:

$ cd ~/catkin_ws/src/config
$ touch smartcar_arbotix.yaml

把下面的代码粘进去。

port: /dev/ttyUSB0
baud: 115200
rate: 20
sync_write: True
sync_read: True
read_rate: 20
write_rate: 20

controllers: {
# Pololu motors: 1856 cpr = 0.3888105m travel = 4773 ticks per meter (empirical: 4100)
base_controller: {type: diff_controller, base_frame_id: base_link, base_width: 0.26, ticks_meter: 4100, Kp: 12, Kd: 12, Ki: 0, Ko: 50, accel_limit: 1.0 }
}

ROS学习记录(二)————使用smartcar进行仿真(用.xacro文件来运行rviz)

在smartcar_description文件夹下,直接建立一个文件urdf.rviz

把代码粘进去

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: 1
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: 10
Reference Frame:
<Fixed Frame>
Value: true
- Alpha: 1
Class: rviz/RobotModel
Collision Enabled: false
Enabled: true
Links:
{}
Name: RobotModel
Robot Description: robot_description
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
- Class: rviz/TF
Enabled: true
Frame Timeout: 15
Frames:
All Enabled: true
Marker Scale: 1
Name: TF
Show Arrows: true
Show Axes: true
Show Names: true
Tree:
{}
Update Interval: 0
Value: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: /base_link
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

最后应该是这样子的:

ROS学习记录(二)————使用smartcar进行仿真(用.xacro文件来运行rviz)

然后,运行下面的指令,应该就可以了

roslaunch smartcar_description smartcar_display.rviz.launch

ROS学习记录(二)————使用smartcar进行仿真(用.xacro文件来运行rviz)

注:以上的所有代码都是在一个终端里面完成的,要是不小心退出了,你可能要先找到对应的路径才可以执行。

$ cd ~/catkin_ws/src  //寻找到src文件夹,找其他文件夹的话,以此类推。

本次参考的是:

ROS探索总结-6.使用smartcar进行仿真 - 创客智造
http://www.ncnynl.com/archives/201609/843.html

下面这个里面有弄好的文件夹,可以直接下载下来运行。

ROS探索总结-7.smartcar源码上传 - 创客智造
http://www.ncnynl.com/archives/201609/845.html