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阿克曼结构移动机器人的gazebo仿真（二）_阿克曼结构机器人
作者：Gausst松鼠会 | 2024-04-18 04:12:05
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阿克曼结构机器人
阿克曼结构移动机器人的gazebo仿真（二）
第二章、配置xacro文件
0.前言
上一节已经将urdf导出来了，这一节需要配置一下xacro文件。先看一下导出的功能包在gazebo以及rviz中显示的效果。
将功能包放进工作空间进行编译，source一下环境，先看gazebo:
roslaunch tianracer_description gazebo.launch
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可以看到模型已经加载到gazebo中的empty_world中了，此时模型还是白板，稍后可对颜色进行配置。
再看rviz,先修改tianracer_description/launch中的 arg name=“gui” default="False"改为arg name=“gui” default=“True”
roslaunch tianracer_description display.launch
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此时左侧会出现joint_state_publisher的可视化窗口，拖动上边的动态条即可控制小车的每个关节。
1.添加传动装置
新建tianracer_description.xacro文件，将urdf文件中的代码复制过来，并对其进行修改。
<?xml version="1.0" encoding="utf-8"?> <robot name="tianracer" xmlns:xacro="http://ros.org/wiki/xacro"> <link name="base_link"> </link> <link name="chassis"> <inertial> <origin xyz="0.0623235722457065 0.0014584636628485 0.0350371599032402" rpy="0 0 0" /> <mass value="5" /> <inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://tianracer_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://tianracer_description/meshes/base_link.STL" /> </geometry> </collision> </link> <joint name="base_link_joint" type="fixed"> <origin xyz="0 0 0" rpy="0 0 0" /> <parent link="base_link"/> <child link="chassis" /> </joint> <link name="left_steering_hinge"> <inertial> <origin xyz="0.00160901052986848 0.00421500740928921 0.000999991873067492" rpy="0 0 0" /> <mass value="0.34" /> <inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://tianracer_description/meshes/left_steering_hinge.STL" /> </geometry> <material name=""> <color rgba="1 1 1 1" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://tianracer_description/meshes/left_steering_hinge.STL" /> </geometry> </collision> </link> <joint name="left_steering_hinge_joint" type="revolute"> <origin xyz="0.1237 0.070647 0.0235" rpy="0 0 0" /> <parent link="base_link" /> <child link="left_steering_hinge" /> <axis xyz="0 0 1" /> <limit lower="-0.6" upper="0.6" effort="10" velocity="1000" /> </joint> <link name="left_front_wheel"> <inertial> <origin xyz="-1.16652756898539E-10 0.000722301233977055 -0.000982991824011559" rpy="0 0 0" /> <mass value="0.7" /> <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://tianracer_description/meshes/left_front_wheel.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://tianracer_description/meshes/left_front_wheel.STL" /> </geometry> </collision> </link> <joint name="left_front_wheel_joint" type="continuous"> <origin xyz="0 0.015649 0" rpy="0 0 0" /> <parent link="left_steering_hinge" /> <child link="left_front_wheel" /> <axis xyz="0 1 0" /> </joint> <link name="right_steering_hinge"> <inertial> <origin xyz="0.00160901052986852 -0.00421500740928916 0.00100000812693248" rpy="0 0 0" /> <mass value="0.34" /> <inertia ixx="4E-06" ixy="0" ixz="0" iyy="4E-06" iyz="0" izz="4E-06" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://tianracer_description/meshes/right_steering_hinge.STL" /> </geometry> <material name=""> <color rgba="1 1 1 1" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://tianracer_description/meshes/right_steering_hinge.STL" /> </geometry> </collision> </link> <joint name="right_steering_hinge_joint" type="revolute"> <origin xyz="0.12626 -0.065953 0.0235" rpy="0 0 0" /> <parent link="base_link" /> <child link="right_steering_hinge" /> <axis xyz="0 0 1" /> <limit lower="-0.6" upper="0.6" effort="10" velocity="1000" /> </joint> <link name="right_front_wheel"> <inertial> <origin xyz="1.16652479342783E-10 -0.000722301233976874 -0.000982991824011684" rpy="0 0 0" /> <mass value="0.7" /> <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://tianracer_description/meshes/right_front_wheel.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://tianracer_description/meshes/right_front_wheel.STL" /> </geometry> </collision> </link> <joint name="right_front_wheel_joint" type="continuous"> <origin xyz="0 -0.015649 0" rpy="0 0 0" /> <parent link="right_steering_hinge" /> <child link="right_front_wheel" /> <axis xyz="0 1 0" /> </joint> <link name="left_rear_wheel"> <inertial> <origin xyz="-6.22009417952651E-06 0.000722301233977513 1.58299866985546E-05" rpy="0 0 0" /> <mass value="0.7" /> <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://tianracer_description/meshes/left_rear_wheel.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://tianracer_description/meshes/left_rear_wheel.STL" /> </geometry> </collision> </link> <joint name="left_rear_wheel_joint" type="continuous"> <origin xyz="-0.12626 0.081602 0.0225" rpy="0 0 0" /> <parent link="base_link" /> <child link="left_rear_wheel" /> <axis xyz="0 1 0" /> </joint> <link name="right_rear_wheel"> <inertial> <origin xyz="5.49312575473526E-06 -0.000722301233977277 1.60966959317256E-05" rpy="0 0 0" /> <mass value="0.7" /> <inertia ixx="0.00026046" ixy="0" ixz="0" iyy="0.00026046" iyz="0" izz="0.00041226" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://tianracer_description/meshes/right_rear_wheel.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://tianracer_description/meshes/right_rear_wheel.STL" /> </geometry> </collision> </link> <joint name="right_rear_wheel_joint" type="continuous"> <origin xyz="-0.1237 -0.086296 0.0225" rpy="0 0 0" /> <parent link="base_link" /> <child link="right_rear_wheel" /> <axis xyz="0 1 0" /> </joint> <link name="lidar"> <inertial> <origin xyz="-0.0120919804823413 0.0023160815953297 -0.0191850779635995" rpy="0 0 0" /> <mass value="0.0792224121739075" /> <inertia ixx="2.10579541640659E-05" ixy="-1.189626176555E-07" ixz="4.23690141563745E-07" iyy="2.51190032657276E-05" iyz="-7.86831091483644E-09" izz="4.38241306407012E-05" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://tianracer_description/meshes/lidar.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://tianracer_description/meshes/lidar.STL" /> </geometry> </collision> </link> <joint name="lidar_joint" type="fixed"> <origin xyz="0.093603 -8.284E-05 0.12377" rpy="0 0 0" /> <parent link="base_link" /> <child link="lidar" /> <axis xyz="0 0 0" /> </joint> <link name="camera"> <inertial> <origin xyz="-0.00831465204525364 0.000297862545499916 -0.000809694900417546" rpy="0 0 0" /> <mass value="0.0203878842392581" /> <inertia ixx="4.0787812214101E-06" ixy="-1.28709200468823E-08" ixz="-1.65865223773842E-08" iyy="3.17565570823081E-06" iyz="-1.52713816393124E-08" izz="2.98536150732633E-06" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://tianracer_description/meshes/camera.STL" /> </geometry> <material name=""> <color rgba="0.43921568627451 0.43921568627451 0.43921568627451 1" /> </material> </visual> <collision> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://tianracer_description/meshes/camera.STL" /> </geometry> </collision> </link> <joint name="camera_joint" type="fixed"> <origin xyz="0.14851 0.0022137 0.0975" rpy="0 0 0" /> <parent link="base_link" /> <child link="camera" /> <axis xyz="0 0 0" /> </joint> <link name="real_sense"> <inertial> <origin xyz="-0.00975078931607951 0.00306064913353049 -7.04374991291334E-05" rpy="0 0 0" /> <mass value="0.103311749598955" /> <inertia ixx="7.35323632954531E-05" ixy="3.0437488683846E-06" ixz="2.08538534427428E-08" iyy="7.40427481540393E-06" iyz="-1.93018760531168E-08" izz="7.2832884533889E-05" /> </inertial> <visual> <origin xyz="0 0 0" rpy="0 0 0" /> <geometry> <mesh filename="package://tianracer_description/meshes/real_sense.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://tianracer_description/meshes/real_sense.STL" /> </geometry> </collision> </link> <joint name="real_sense_joint" type="fixed"> <origin xyz="0.19864 0.0038046 0.052021" rpy="0 0 0" /> <parent link="base_link" /> <child link="real_sense" /> <axis xyz="0 0 0" /> </joint>
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上边主要修改的内容是第一句修改为xacro声明：
<?xml version="1.0" encoding="utf-8"?>
<robot name="tianracer" xmlns:xacro="http://ros.org/wiki/xacro">
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以及一些惯性参数的修改。
本次项目做的是基于twist消息的阿克曼转向移动机器人，为实现该机器人的运动学，我们给两个后轮以及连接两个前轮的steer添加传动装置。为使用ROS控制驱动机器人，需要在模型中加入transmission元素，将传动装置与joint绑定。
<transmission name="right_steering_hinge_joint_trans"> <type>transmission_interface/SimpleTransmission</type> <joint name="right_steering_hinge_joint" > <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> </joint> <actuator name="right_steering_hinge_joint_motor"> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> <mechanicalReduction>1</mechanicalReduction> <motorTorqueConstant>100</motorTorqueConstant> </actuator> </transmission> <transmission name="left_steering_hinge_joint_trans"> <type>transmission_interface/SimpleTransmission</type> <joint name="left_steering_hinge_joint" > <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> </joint> <actuator name="left_steering_hinge_joint_motor"> <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface> <mechanicalReduction>1</mechanicalReduction> <motorTorqueConstant>100</motorTorqueConstant> </actuator> </transmission> <transmission name="right_rear_wheel_joint_trans"> <type>transmission_interface/SimpleTransmission</type> <joint name="right_rear_wheel_joint" > <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface> </joint> <actuator name="right_rear_wheel_joint_motor"> <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface> <mechanicalReduction>1</mechanicalReduction> </actuator> </transmission> <transmission name="left_rear_wheel_joint_trans"> <type>transmission_interface/SimpleTransmission</type> <joint name="left_rear_wheel_joint" > <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface> </joint> <actuator name="left_rear_wheel_joint_motor"> <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface> <mechanicalReduction>1</mechanicalReduction> </actuator> </transmission>
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2.添加插件
在与tianracer_description.xacro路径相同路径下新建tianracer.gazebo文件
添加gazebo插件
由于车轮实际上会接触地面，因此会与地面发生物理相互作用，将各个link添加部件材料的附加信息，并且定义各个link的颜色信息。参考:gazebo官网
<gazebo reference="chassis"> <mu1 value="0.0"/> <mu2 value="0.0"/> <kp value="10000000.0" /> <kd value="1.0" /> <material>Gazebo/Red</material> </gazebo> <gazebo reference="left_steering_hinge"> <mu1 value="2.0"/> <mu2 value="2.0"/> <kp value="10000000.0" /> <kd value="1.0" /> <fdir1 value="1 0 0"/> <material>Gazebo/Grey</material> </gazebo> <gazebo reference="left_rear_wheel"> <mu1 value="2.0"/> <mu2 value="2.0"/> <kp value="10000000.0" /> <kd value="1.0" /> <fdir1 value="1 0 0"/> <material>Gazebo/Black</material> </gazebo> <gazebo reference="right_steering_hinge"> <mu1 value="2.0"/> <mu2 value="2.0"/> <kp value="10000000.0" /> <kd value="1.0" /> <fdir1 value="1 0 0"/> <material>Gazebo/Grey</material> </gazebo> <gazebo reference="right_rear_wheel"> <mu1 value="2.0"/> <mu2 value="2.0"/> <kp value="10000000.0" /> <kd value="1.0" /> <fdir1 value="1 0 0"/> <material>Gazebo/Black</material> </gazebo> <gazebo reference="left_front_wheel"> <mu1 value="2.0"/> <mu2 value="2.0"/> <kp value="10000000.0" /> <kd value="1.0" /> <fdir1 value="0 0 1"/> <material>Gazebo/Black</material> </gazebo> <gazebo reference="right_front_wheel"> <mu1 value="2.0"/> <mu2 value="2.0"/> <kp value="10000000.0" /> <kd value="1.0" /> <fdir1 value="0 0 1"/> <material>Gazebo/Black</material> </gazebo>
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![[外链图片转存失败,源站可能有防盗链机制,建议将图片保存下来直接上传(img-3zZNP6y0-1648997167602)(/home/zyx/blog/二/3.png)]](https://img-blog.csdnimg.cn/753fe5ba72504e87913965af0d97fa06.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBATG9yZF9aWVg=,size_20,color_FFFFFF,t_70,g_se,x_16)
添加ros_control插件
由于gazebo并没阿克曼车型的插件，要链接gazebo与ros，我们先添加ros_control插件，它读取所有transmission标记，以及joint_state_publisher插件
<gazebo> <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so"> <robotNamespace>/tianracer</robotNamespace> <robotParam>robot_description</robotParam> <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType> <legacyModeNS>true</legacyModeNS> </plugin> </gazebo> <gazebo> <plugin name="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so"> <jointName>left_rear_wheel_joint, right_rear_wheel_joint, left_steering_hinge_joint, right_steering_hinge_joint, right_front_wheel_joint,left_ front_wheel_joint</jointName> <updateRate>50.0</updateRate> <robotNamespace>/tianracer</robotNamespace> <alwaysOn>true</alwaysOn> </plugin> </gazebo>
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添加传感器插件
添加二维激光雷达插件
<!-- hokuyo --> <xacro:unless value="$(optenv DISABLE_GAZEBO_LASER false)"> <gazebo reference="lidar"> <material>Gazebo/Grey</material> <sensor type="ray" name="hokuyo_sensor"> <pose>0 0 0.0124 0 0 0</pose> <visualize>false</visualize> <update_rate>40</update_rate> <ray> <scan> <horizontal> <samples>1081</samples> <resolution>1</resolution> <min_angle>-2.3561944902</min_angle> <max_angle>2.3561944902</max_angle> </horizontal> </scan> <range> <min>0.1</min> <max>10.0</max> <resolution>0.01</resolution> </range> <noise> <mean>0.0</mean> <stddev>0.01</stddev> </noise> </ray> <plugin name="gazebo_ros_hokuyo_controller" filename="libgazebo_ros_laser.so"> <topicName>/scan</topicName> <frameName>lidar</frameName> </plugin> </sensor> </gazebo> </xacro:unless>
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注意雷达的名字需要与link名对应上。
添加单目摄像头以及深度摄像头插件
<!-- camera --> <gazebo reference="camera"> <material>Gazebo/Grey</material> <sensor type="camera" name="camera1"> <update_rate>30.0</update_rate> <camera name="head"> <horizontal_fov>1.3962634</horizontal_fov> <image> <width>800</width> <height>800</height> <format>R8G8B8</format> </image> <clip> <near>0.02</near> <far>300</far> </clip> <noise> <type>gaussian</type> <!-- Noise is sampled independently per pixel on each frame. That pixel's noise value is added to each of its color channels, which at that point lie in the range [0,1]. --> <mean>0.0</mean> <stddev>0.007</stddev> </noise> </camera> <plugin name="camera_controller" filename="libgazebo_ros_camera.so"> <alwaysOn>true</alwaysOn> <updateRate>0.0</updateRate> <cameraName>rrbot/camera1</cameraName> <imageTopicName>image_raw</imageTopicName> <cameraInfoTopicName>camera_info</cameraInfoTopicName> <frameName>camera</frameName> <hackBaseline>0.07</hackBaseline> <distortionK1>0.0</distortionK1> <distortionK2>0.0</distortionK2> <distortionK3>0.0</distortionK3> <distortionT1>0.0</distortionT1> <distortionT2>0.0</distortionT2> </plugin> </sensor> </gazebo> <gazebo reference="real_sense"> <sensor type="depth" name="real_sense"> <always_on>true</always_on> <update_rate>20.0</update_rate> <camera> <horizontal_fov>${60.0*3.14/180.0}</horizontal_fov> <image> <format>R8G8B8</format> <width>640</width> <height>480</height> </image> <clip> <near>0.05</near> <far>8.0</far> </clip> </camera> <plugin name="kinect_real_sense_controller" filename="libgazebo_ros_openni_kinect.so"> <cameraName>real_sense</cameraName> <alwaysOn>true</alwaysOn> <updateRate>10</updateRate> <imageTopicName>rgb/image_raw</imageTopicName> <depthImageTopicName>depth/image_raw</depthImageTopicName> <pointCloudTopicName>depth/points</pointCloudTopicName> <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName> <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName> <frameName>real_sense</frameName> <baseline>0.1</baseline> <distortion_k1>0.0</distortion_k1> <distortion_k2>0.0</distortion_k2> <distortion_k3>0.0</distortion_k3> <distortion_t1>0.0</distortion_t1> <distortion_t2>0.0</distortion_t2> <pointCloudCutoff>0.4</pointCloudCutoff> </plugin> </sensor> </gazebo>
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这里深度摄像头的插件用kinect的插件代替。
最后将tianracer.gazebo添加到tianracer_description.xacro文件里边：
<xacro:include filename="$(find tianracer_description)/urdf/tianracer.gazebo" />
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小结
至此，我们已经配置好小车的各个link的颜色以及传感器的插件，但我们仍无法让小车运动起来，因为我们还未配置小车的controllers。下一节通过配置controllers让小车动起来。
![[外链图片转存失败,源站可能有防盗链机制,建议将图片保存下来直接上传(img-96xz2D3Y-1648997167603)(/home/zyx/Pictures/4.png)]](https://img-blog.csdnimg.cn/b3b4fd5e95b2465d98b779ff82d764c6.png?x-oss-process=image/watermark,type_d3F5LXplbmhlaQ,shadow_50,text_Q1NETiBATG9yZF9aWVg=,size_20,color_FFFFFF,t_70,g_se,x_16)
参考资料
1.古月老师的<<ROS机器人开发实践>>
2.从零开始自动驾驶
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