【kinetic】操作系统探索总结（六）使用smartcar进行仿真

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【kinetic】操作系统探索总结（六）使用smartcar进行仿真

阅读原文时间：2023年07月09日阅读：2

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　　之前的博客中，我们使用rviz进行了TurtleBot的仿真，而且使用urdf文件建立了自己的机器人smartcar，本篇博客是将两者进行结合，使用smartcar机器人在rviz中进行仿真。

一、模型完善

　　之前我们使用的都是urdf文件格式的模型，在很多情况下，ROS对urdf文件的支持并不是很好，使用宏定义的.xacro文件兼容性更好，扩展性也更好。所以我们把之前的urdf文件重新整理编写成.xacro文件。

.xacro文件主要分为三部分(以下文件均创建在urdf文件夹下，上一章节创建的文件可以删除)：

　　1、机器人主体(smartcar_body.urdf.xacro)

<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>  
  <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>

<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>

<visual>  
  <geometry>  
    <cylinder length=".02" radius="0.025"/>  
  </geometry>  
  <material name="black">  
    <color rgba="0 0 0 1"/>  
  </material>

<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>

<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"/>

<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 1.5"/>  
  </material>  
 </visual>  
 <collision>  
  <origin xyz="0.08 0 0.08"/>  
  <geometry>  
     <cylinder length=".02" radius="0.025"/>  
  </geometry>  
</collision>

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　　2、gazebo属性部分（gazebo.urdf.xacro）　　

Gazebo/Blue

<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>

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　　3、主文件（smartcar.urdf.xacro）

<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">

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二、lanuch文件(smartcar_display.rviz.launch)

　　在launch文件中要启动节点和模拟器。　　

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

　　(如果不想进行这一步，把launch文件中的

　　这行代码注释即可。)：

$ 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 }
}

复制使用cp指令将/opt/ros/kinetic/share/urdf_tutorial 目录下的 urdf.rviz拷贝到项目目录 ~/catkin_ws/src/smartcar_description 下

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三、仿真测试

　　首先运行lanuch，既可以看到rviz中的机器人：

roslaunch smartcar_description smartcar_display.rviz.launch

rostopic pub -1 /cmd_vel geometry_msgs/Twist '{}'

发布一条动作的消息。

01.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}}'

却发现是一个坐标轴在运动。这明显和我们想要的结果不同。

这里，我们需要对rviz客户端进行设置。

将Global Options下的Fixed Frame更改为odom,这样我们的小车就能正常的运行了。

但是，我们之前的历程中有指示小车的方向，这里要怎么设置呢？我们需要在窗口的左下角的Add按钮中添加 Odometry模块，并选中话题odom。

下面我们选中rviz窗口，按下Ctrl+S，将会把当前的设置保存到urdf.rviz文件中。

保存后的urdf.rviz的内容如下:

Panels:

Class: rviz/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /RobotModel1/Links1
- /TF1
- /TF1/Tree1/odom1
- /TF1/Tree1/odom1/base_link1
Splitter Ratio: 0.5
Tree Height: 561
Class: rviz/Selection
Name: Selection
Class: rviz/Tool Properties Expanded:
- /2D Pose Estimate1
- /2D Nav Goal1
- /Publish Point1
  Name: Tool Properties
  Splitter Ratio: 0.588679016
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: 0.0299999993
  Value: Lines
  Name: Grid
  Normal Cell Count: 0
  Offset:
  X: 0
  Y: 0
  Z: 0
  Plane: XY
  Plane Cell Count: 10
  Reference Frame:
  Value: true
- Alpha: 0.5
  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
  head:
  Alpha: 1
  Show Axes: false
  Show Trail: false
  Value: true
  left_back_wheel:
  Alpha: 1
  Show Axes: false
  Show Trail: false
  Value: true
  left_front_wheel:
  Alpha: 1
  Show Axes: false
  Show Trail: false
  Value: true
  right_back_wheel:
  Alpha: 1
  Show Axes: false
  Show Trail: false
  Value: true
  right_front_wheel:
  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
- Class: rviz/TF
  Enabled: true
  Frame Timeout: 15
  Frames:
  All Enabled: true
  base_link:
  Value: true
  head:
  Value: true
  left_back_wheel:
  Value: true
  left_front_link:
  Value: true
  left_front_wheel:
  Value: true
  odom:
  Value: true
  right_back_wheel:
  Value: true
  right_front_link:
  Value: true
  right_front_wheel:
  Value: true
  Marker Scale: 0.5
  Name: TF
  Show Arrows: true
  Show Axes: true
  Show Names: true
  Tree:
  odom:
  base_link:
  head:
  {}
  left_back_wheel:
  {}
  left_front_link:
  {}
  left_front_wheel:
  {}
  right_back_wheel:
  {}
  right_front_link:
  {}
  right_front_wheel:
  {}
  Update Interval: 0
  Value: true
- Angle Tolerance: 0.100000001
  Class: rviz/Odometry
  Covariance:
  Orientation:
  Alpha: 0.5
  Color: 255; 255; 127
  Color Style: Unique
  Frame: Local
  Offset: 1
  Scale: 1
  Value: true
  Position:
  Alpha: 0.300000012
  Color: 204; 51; 204
  Scale: 1
  Value: true
  Value: true
  Enabled: true
  Keep: 100
  Name: Odometry
  Position Tolerance: 0.100000001
  Shape:
  Alpha: 1
  Axes Length: 1
  Axes Radius: 0.100000001
  Color: 255; 25; 0
  Head Length: 0.300000012
  Head Radius: 0.100000001
  Shaft Length: 1
  Shaft Radius: 0.0500000007
  Value: Arrow
  Topic: /odom
  Unreliable: false
  Value: true
  Enabled: true
  Global Options:
  Background Color: 48; 48; 48
  Default Light: true
  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: 6.47174978
  Enable Stereo Rendering:
  Stereo Eye Separation: 0.0599999987
  Stereo Focal Distance: 1
  Swap Stereo Eyes: false
  Value: false
  Focal Point:
  X: 0
  Y: 0
  Z: 0
  Focal Shape Fixed Size: true
  Focal Shape Size: 0.0500000007
  Invert Z Axis: false
  Name: Current View
  Near Clip Distance: 0.00999999978
  Pitch: 0.695397019
  Target Frame:
  Value: Orbit (rviz)
  Yaw: 0.513581991
  Saved: ~
  Window Geometry:
  Displays:
  collapsed: false
  Height: 848
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd00000004000000000000016a000002c0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c0000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c0000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004c000000044fc0100000002fb0000000800540069006d00650100000000000004c00000030000fffffffb0000000800540069006d006501000000000000045000000000000000000000023b000002c000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
  collapsed: false
  Time:
  collapsed: false
  Tool Properties:
  collapsed: false
  Views:
  collapsed: false
  Width: 1216
  X: 65
  Y: 24

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