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重要参考:
课程链接:https://www.bilibili.com/video/BV1Ci4y1L7ZZ
讲义链接:Introduction · Autolabor-ROS机器人入门课程《ROS理论与实践》零基础教程
分布式架构搭建完毕且能正常运行,在PC端可以远程登陆机器人端。
在机器人端安装导航所需功能包:
安装 gmapping 包(用于构建地图):sudo apt install ros-<ROS版本>-gmapping
安装地图服务包(用于保存与读取地图):sudo apt install ros-<ROS版本>-map-server
安装 navigation 包(用于定位以及路径规划):sudo apt install ros-<ROS版本>-navigation
新建功能(包名自定义,比如:nav),并导入依赖: gmapping map_server amcl move_base
机器人的不同部件有不同的坐标系,我们需要将这些坐标系集成进同一坐标树,实现方案有两种:
方案1在上一章中已做演示,接下来介绍方案2的实现。
创建功能包:catkin_create_pkg mycar_description urdf xacro
在功能包下新建 urdf 目录,编写具体的 urdf 文件(机器人模型相关URDF文件的编写可以参考第6章内容),示例如下:
文件car.urdf.xacro用于集成不同的机器人部件,内容如下:
- <robot name="mycar" xmlns:xacro="http://wiki.ros.org/xacro">
-
- <xacro:include filename="car_base.urdf.xacro" />
- <xacro:include filename="car_camera.urdf.xacro" />
- <xacro:include filename="car_laser.urdf.xacro" />
-
- </robot>
文件car_base.urdf.xacro机器人底盘实现,内容如下:
- <robot name="mycar" xmlns:xacro="http://wiki.ros.org/xacro">
-
- <xacro:property name="footprint_radius" value="0.001" />
- <link name="base_footprint">
- <visual>
- <geometry>
- <sphere radius="${footprint_radius}" />
- </geometry>
- </visual>
- </link>
-
-
- <xacro:property name="base_radius" value="0.1" />
- <xacro:property name="base_length" value="0.08" />
- <xacro:property name="lidi" value="0.015" />
- <xacro:property name="base_joint_z" value="${base_length / 2 + lidi}" />
- <link name="base_link">
- <visual>
- <geometry>
- <cylinder radius="0.1" length="0.08" />
- </geometry>
-
- <origin xyz="0 0 0" rpy="0 0 0" />
-
- <material name="baselink_color">
- <color rgba="1.0 0.5 0.2 0.5" />
- </material>
- </visual>
-
- </link>
-
- <joint name="link2footprint" type="fixed">
- <parent link="base_footprint" />
- <child link="base_link" />
- <origin xyz="0 0 0.055" rpy="0 0 0" />
- </joint>
-
-
-
- <xacro:property name="wheel_radius" value="0.0325" />
- <xacro:property name="wheel_length" value="0.015" />
- <xacro:property name="PI" value="3.1415927" />
- <xacro:property name="wheel_joint_z" value="${(base_length / 2 + lidi - wheel_radius) * -1}" />
-
-
- <xacro:macro name="wheel_func" params="wheel_name flag">
-
- <link name="${wheel_name}_wheel">
- <visual>
- <geometry>
- <cylinder radius="${wheel_radius}" length="${wheel_length}" />
- </geometry>
-
- <origin xyz="0 0 0" rpy="${PI / 2} 0 0" />
-
- <material name="wheel_color">
- <color rgba="0 0 0 0.3" />
- </material>
- </visual>
-
- </link>
-
- <joint name="${wheel_name}2link" type="continuous">
- <parent link="base_link" />
- <child link="${wheel_name}_wheel" />
-
- <origin xyz="0 ${0.1 * flag} ${wheel_joint_z}" rpy="0 0 0" />
- <axis xyz="0 1 0" />
- </joint>
-
- </xacro:macro>
-
- <xacro:wheel_func wheel_name="left" flag="1" />
- <xacro:wheel_func wheel_name="right" flag="-1" />
-
-
-
- <xacro:property name="small_wheel_radius" value="0.0075" />
- <xacro:property name="small_joint_z" value="${(base_length / 2 + lidi - small_wheel_radius) * -1}" />
-
- <xacro:macro name="small_wheel_func" params="small_wheel_name flag">
- <link name="${small_wheel_name}_wheel">
- <visual>
- <geometry>
- <sphere radius="${small_wheel_radius}" />
- </geometry>
-
- <origin xyz="0 0 0" rpy="0 0 0" />
-
- <material name="wheel_color">
- <color rgba="0 0 0 0.3" />
- </material>
- </visual>
-
- </link>
-
- <joint name="${small_wheel_name}2link" type="continuous">
- <parent link="base_link" />
- <child link="${small_wheel_name}_wheel" />
-
- <origin xyz="${0.08 * flag} 0 ${small_joint_z}" rpy="0 0 0" />
- <axis xyz="0 1 0" />
- </joint>
-
- </xacro:macro >
- <xacro:small_wheel_func small_wheel_name="front" flag="1"/>
- <xacro:small_wheel_func small_wheel_name="back" flag="-1"/>
-
- </robot>
文件car_camera.urdf.xacro机器人摄像头实现,内容如下:
- <robot name="mycar" xmlns:xacro="http://wiki.ros.org/xacro">
-
- <xacro:property name="camera_length" value="0.02" />
- <xacro:property name="camera_width" value="0.05" />
- <xacro:property name="camera_height" value="0.05" />
- <xacro:property name="joint_camera_x" value="0.08" />
- <xacro:property name="joint_camera_y" value="0" />
- <xacro:property name="joint_camera_z" value="${base_length / 2 + camera_height / 2}" />
-
- <link name="camera">
- <visual>
- <geometry>
- <box size="${camera_length} ${camera_width} ${camera_height}" />
- </geometry>
- <origin xyz="0 0 0" rpy="0 0 0" />
- <material name="black">
- <color rgba="0 0 0 0.8" />
- </material>
- </visual>
- </link>
-
- <joint name="camera2base" type="fixed">
- <parent link="base_link" />
- <child link="camera" />
- <origin xyz="${joint_camera_x} ${joint_camera_y} ${joint_camera_z}" rpy="0 0 0" />
- </joint>
-
- </robot>
文件car_laser.urdf.xacro机器人雷达实现,内容如下:
- <robot name="mycar" xmlns:xacro="http://wiki.ros.org/xacro">
-
- <xacro:property name="support_radius" value="0.01" />
- <xacro:property name="support_length" value="0.15" />
-
- <xacro:property name="laser_radius" value="0.03" />
- <xacro:property name="laser_length" value="0.05" />
-
- <xacro:property name="joint_support_x" value="0" />
- <xacro:property name="joint_support_y" value="0" />
- <xacro:property name="joint_support_z" value="${base_length / 2 + support_length / 2}" />
-
- <xacro:property name="joint_laser_x" value="0" />
- <xacro:property name="joint_laser_y" value="0" />
- <xacro:property name="joint_laser_z" value="${support_length / 2 + laser_length / 2}" />
-
- <link name="support">
- <visual>
- <geometry>
- <cylinder radius="${support_radius}" length="${support_length}" />
- </geometry>
- <material name="yellow">
- <color rgba="0.8 0.5 0.0 0.5" />
- </material>
- </visual>
-
- </link>
-
- <joint name="support2base" type="fixed">
- <parent link="base_link" />
- <child link="support"/>
- <origin xyz="${joint_support_x} ${joint_support_y} ${joint_support_z}" rpy="0 0 0" />
- </joint>
- <link name="laser">
- <visual>
- <geometry>
- <cylinder radius="${laser_radius}" length="${laser_length}" />
- </geometry>
- <material name="black">
- <color rgba="0 0 0 0.5" />
- </material>
- </visual>
-
- </link>
-
- <joint name="laser2support" type="fixed">
- <parent link="support" />
- <child link="laser"/>
- <origin xyz="${joint_laser_x} ${joint_laser_y} ${joint_laser_z}" rpy="0 0 0" />
- </joint>
- </robot>
launch 文件(文件名称自定义,比如:car.launch)内容示例如下:
- <launch>
- <param name="robot_description" command="$(find xacro)/xacro $(find mycar_description)/urdf/car.urdf.xacro" />
- <node pkg="joint_state_publisher" name="joint_state_publisher" type="joint_state_publisher" />
- <node pkg="robot_state_publisher" name="robot_state_publisher" type="robot_state_publisher" />
- </launch>
为了使用方便,还可以将该文件包含进启动机器人的launch文件中,示例如下:
- <launch>
- <include file="$(find ros_arduino_python)/launch/arduino.launch" />
- <include file="$(find usb_cam)/launch/usb_cam-test.launch" />
- <include file="$(find rplidar_ros)/launch/rplidar.launch" />
- <!-- 机器人模型加载文件 -->
- <include file="$(find mycar_description)/launch/car.launch" />
- </launch>
不使用机器人模型时,机器人端启动机器人(使用包含TF坐标换的launch文件),从机端启动rviz,在rviz中添加RobotModel与TF组件,rviz中结果(此时显示机器人模型异常,且TF中只有代码中发布的坐标变换):
使用机器人模型时,机器人端加载机器人模型(执行上一步的launch文件)且启动机器人,从机端启动rviz,在rviz中添加RobotModel与TF组件rviz中结果(此时显示机器人模型,且TF坐标变换正常):
后续,在导航时使用机器人模型。
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