ROS机器人小车建模仿真与SLAM

LLL_666_

已于 2024-05-07 14:26:01 修改

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文章标签：机器人

于 2024-05-07 09:57:29 首次发布

本文链接：https://blog.csdn.net/LLL_666_/article/details/138518800

一、在ROS中完成一个机器小车的模型创建，传感器配置，仿真环境的设置，并控制机器小车进行运动。

1、准备:新建功能包，导入依赖
创建一个新的功能包，名称自定义

mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_init_workspace

，导入依赖包:

catkin_create_pkg jubot_demo urdf xacro 
cd jubot_demo/
mkdir urdf
mkdir launch
mkdir meshes
mkdir config

urdf: 存储 urdf 文件的目录

meshes:机器人模型渲染文件(暂不使用)

config: 配置文件

launch: 存储 launch 启动文件

2、核心:编写 urdf 文件

<!-- <robot name="mycar">
    <link name="base_link">
        <visual>
            <geometry>
                <box size="0.5 0.2 0.1" />
            </geometry>
        </visual>
    </link>
</robot> -->
 
 
 
<robot name="mycar">
  <!-- 设置 base_footprint  -->
  <link name="base_footprint">
    <visual>
      <geometry>
        <sphere radius="0.001" />
      </geometry>
    </visual>
  </link>
 

  <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="yellow">
        <color rgba="0.8 0.3 0.1 0.5" />
      </material>
    </visual>
  </link>
 
  <joint name="base_link2base_footprint" type="fixed">
    <parent link="base_footprint" />
    <child link="base_link"/>
    <origin xyz="0 0 0.055" />
  </joint>
 

  <link name="left_wheel">
    <visual>
      <geometry>
        <cylinder radius="0.0325" length="0.015" />
      </geometry>
      <origin xyz="0 0 0" rpy="1.5705 0 0" />
      <material name="black">
        <color rgba="0.0 0.0 0.0 1.0" />
      </material>
    </visual>
 
  </link>
 
  <joint name="left_wheel2base_link" type="continuous">
    <parent link="base_link" />
    <child link="left_wheel" />
    <origin xyz="0 0.1 -0.0225" />
    <axis xyz="0 1 0" />
  </joint>
 
 
  <link name="right_wheel">
    <visual>
      <geometry>
        <cylinder radius="0.0325" length="0.015" />
      </geometry>
      <origin xyz="0 0 0" rpy="1.5705 0 0" />
      <material name="black">
        <color rgba="0.0 0.0 0.0 1.0" />
      </material>
    </visual>
 
  </link>
 
  <joint name="right_wheel2base_link" type="continuous">
    <parent link="base_link" />
    <child link="right_wheel" />
    <origin xyz="0 -0.1 -0.0225" />
    <axis xyz="0 1 0" />
 
  </joint>
 

  <link name="front_wheel">
    <visual>
      <geometry>
        <sphere radius="0.0075" />
      </geometry>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <material name="black">
        <color rgba="0.0 0.0 0.0 1.0" />
      </material>
    </visual>
  </link>
 
  <joint name="front_wheel2base_link" type="continuous">
    <parent link="base_link" />
    <child link="front_wheel" />
    <origin xyz="0.0925 0 -0.0475" />
    <axis xyz="1 1 1" />
  </joint>
 
  <link name="back_wheel">
    <visual>
      <geometry>
        <sphere radius="0.0075" />
      </geometry>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <material name="black">
        <color rgba="0.0 0.0 0.0 1.0" />
      </material>
    </visual>
  </link>
 
  <joint name="back_wheel2base_link" type="continuous">
    <parent link="base_link" />
    <child link="back_wheel" />
    <origin xyz="-0.0925 0 -0.0475" />
    <axis xyz="1 1 1" />
  </joint>
</robot>

3、创建urdf,launch文件：

<launch>
 
  <!-- 将 urdf 文件内容设置进参数服务器 -->
  <param name="robot_description" textfile="$(find jubot_demo)/urdf/box_urdf.urdf" />
 
  <!-- 启动 rviz -->
  <!-- <node pkg="rviz" type="rviz" name="rviz" /> -->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find jubot_demo)/config/rviz/show_four_wheel_car.rviz" />
 
  <!-- 启动机器人状态和关节状态发布节点 -->
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
  <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" />
 
  <!-- 启动图形化的控制关节运动节点 -->
  <node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui" />
 
 
</launch>

4、在 Rviz 中显示机器小车模型
安装一个检查urdf语法的工具

sudo apt-get install liburdfdom-tools

在urdf文件夹下打开终端检查语法

check_urdf box_urdf.urdf

在urdf文件夹下打开终端，图形化显示URDF模型

urdf_to_graphiz box_urdf.urdf

在这里插入图片描述
退到主目录catkin_ws下，执行catkin_make

执行成功之后，再执行catkin_make install

在主目录catkin_make下配置环境变量source devel/setup.bash

检测环境变量是否配置成功echo $ROS_PACKAGE_PATH

启动launch文件

roslaunch jubot_demo box_launch.launch

二、添加摄像头雷达传感器

1、在urdf文件夹中新建一个xacro文件夹，并在xacro文件夹中新建my_base.urdf.xacro文件

<robot name="my_base" xmlns:xacro="http://www.ros.org/wiki/xacro">
    <xacro:property name="PI" value="3.141"/>
    
    <material name="black">
        <color rgba="0.0 0.0 0.0 1.0" />
    </material>
    <xacro:property name="base_footprint_radius" value="0.001" /> <!-- base_footprint 半径  -->
    <xacro:property name="base_link_radius" value="0.1" /> 
    <xacro:property name="base_link_length" value="0.08" />
    <xacro:property name="earth_space" value="0.015" /> 
    <link name="base_footprint">
      <visual>
        <geometry>
          <sphere radius="${base_footprint_radius}" />
        </geometry>
      </visual>
    </link>
 
    <link name="base_link">
      <visual>
        <geometry>
          <cylinder radius="${base_link_radius}" length="${base_link_length}" />
        </geometry>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <material name="yellow">
          <color rgba="0.5 0.3 0.0 0.5" />
        </material>
      </visual>
    </link>
 
    <joint name="base_link2base_footprint" type="fixed">
      <parent link="base_footprint" />
      <child link="base_link" />
      <origin xyz="0 0 ${earth_space + base_link_length / 2 }" />
    </joint>
 

    <xacro:property name="wheel_radius" value="0.0325" />
    <xacro:property name="wheel_length" value="0.015" />
    
    <xacro:macro name="add_wheels" params="name flag">
      <link name="${name}_wheel">
        <visual>
          <geometry>
            <cylinder radius="${wheel_radius}" length="${wheel_length}" />
          </geometry>
          <origin xyz="0.0 0.0 0.0" rpy="${PI / 2} 0.0 0.0" />
          <material name="black" />
        </visual>
      </link>
 
      <joint name="${name}_wheel2base_link" type="continuous">
        <parent link="base_link" />
        <child link="${name}_wheel" />
        <origin xyz="0 ${flag * base_link_radius} ${-(earth_space + base_link_length / 2 - wheel_radius) }" />
        <axis xyz="0 1 0" />
      </joint>
    </xacro:macro>
    <xacro:add_wheels name="left" flag="1" />
    <xacro:add_wheels name="right" flag="-1" />

    <xacro:property name="support_wheel_radius" value="0.0075" /> 
 
  
    <xacro:macro name="add_support_wheel" params="name flag" >
      <link name="${name}_wheel">
        <visual>
            <geometry>
                <sphere radius="${support_wheel_radius}" />
            </geometry>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <material name="black" />
        </visual>
      </link>
 
      <joint name="${name}_wheel2base_link" type="continuous">
          <parent link="base_link" />
          <child link="${name}_wheel" />
          <origin xyz="${flag * (base_link_radius - support_wheel_radius)} 0 ${-(base_link_length / 2 + earth_space / 2)}" />
          <axis xyz="1 1 1" />
      </joint>
    </xacro:macro>
 
    <xacro:add_support_wheel name="front" flag="1" />
    <xacro:add_support_wheel name="back" flag="-1" />
 
</robot>

2、集成launch文件
在 launch 文件中直接加载 xacro
box_launch：

<launch>
 
  <!-- 将 urdf 文件内容设置进参数服务器 -->
  <!-- <param name="robot_description" textfile="$(find jubot_demo)/urdf/box_urdf.urdf" /> -->
 
  <!-- 使用xacro优化urdf文件 -->
  <param name="robot_description" command="$(find xacro)/xacro $(find jubot_demo)/urdf/xacro/my_base.urdf.xacro" />
 
  <!-- 启动 rviz -->
  <!-- <node pkg="rviz" type="rviz" name="rviz" /> -->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find jubot_demo)/config/rviz/show_four_wheel_car.rviz" />
 
  <!-- 启动机器人状态和关节状态发布节点 -->
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
  <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" />
 
  <!-- 启动图形化的控制关节运动节点 -->
  <node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui" />
 
 
</launch>

加载robot_description时使用command属性，属性值就是调用 xacro 功能包的 xacro 程序直接解析 xacro 文件。
启动launch：

roslaunch jubot_demo box_launch.launch

3、添加摄像头和雷达传感器
在xacro文件夹中新建“my_camera.urdf.xacro”"“my_car_camera.urdf.xacro”“my_laser.urdf.xacro”文件
my_camera.urdf.xacro：

<!-- 摄像头相关的 xacro 文件 -->
<robot name="my_camera" xmlns:xacro="http://wiki.ros.org/xacro">
    <!-- 摄像头属性 -->
    <xacro:property name="camera_length" value="0.01" /> <!-- 摄像头长度(x) -->
    <xacro:property name="camera_width" value="0.025" /> <!-- 摄像头宽度(y) -->
    <xacro:property name="camera_height" value="0.025" /> <!-- 摄像头高度(z) -->
    <xacro:property name="camera_x" value="0.08" /> <!-- 摄像头安装的x坐标 -->
    <xacro:property name="camera_y" value="0.0" /> <!-- 摄像头安装的y坐标 -->
    <xacro:property name="camera_z" value="${base_link_length / 2 + camera_height / 2}" /> <!-- 摄像头安装的z坐标:底盘高度 / 2 + 摄像头高度 / 2  -->
 
    <!-- 摄像头关节以及link -->
    <link name="camera">
        <visual>
            <geometry>
                <box size="${camera_length} ${camera_width} ${camera_height}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
            <material name="black" />
        </visual>
    </link>
 
    <joint name="camera2base_link" type="fixed">
        <parent link="base_link" />
        <child link="camera" />
        <origin xyz="${camera_x} ${camera_y} ${camera_z}" />
    </joint>
</robot>

my_laser.urdf.xacro：

<!--
    小车底盘添加雷达
-->
<robot name="my_laser" xmlns:xacro="http://wiki.ros.org/xacro">

    <!-- 雷达支架 -->
    <xacro:property name="support_length" value="0.15" /> <!-- 支架长度 -->
    <xacro:property name="support_radius" value="0.01" /> <!-- 支架半径 -->
    <xacro:property name="support_x" value="0.0" /> <!-- 支架安装的x坐标 -->
    <xacro:property name="support_y" value="0.0" /> <!-- 支架安装的y坐标 -->
    <xacro:property name="support_z" value="${base_link_length / 2 + support_length / 2}" /> <!-- 支架安装的z坐标:底盘高度 / 2 + 支架高度 / 2  -->

    <link name="support">
        <visual>
            <geometry>
                <cylinder radius="${support_radius}" length="${support_length}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
            <material name="red">
                <color rgba="0.8 0.2 0.0 0.8" />
            </material>
        </visual>
    </link>

    <joint name="support2base_link" type="fixed">
        <parent link="base_link" />
        <child link="support" />
        <origin xyz="${support_x} ${support_y} ${support_z}" />
    </joint>


    <!-- 雷达属性 -->
    <xacro:property name="laser_length" value="0.05" /> <!-- 雷达长度 -->
    <xacro:property name="laser_radius" value="0.03" /> <!-- 雷达半径 -->
    <xacro:property name="laser_x" value="0.0" /> <!-- 雷达安装的x坐标 -->
    <xacro:property name="laser_y" value="0.0" /> <!-- 雷达安装的y坐标 -->
    <xacro:property name="laser_z" value="${support_length / 2 + laser_length / 2}" /> <!-- 雷达安装的z坐标:支架高度 / 2 + 雷达高度 / 2  -->

    <!-- 雷达关节以及link -->
    <link name="laser">
        <visual>
            <geometry>
                <cylinder radius="${laser_radius}" length="${laser_length}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
            <material name="black" />
        </visual>
    </link>

    <joint name="laser2support" type="fixed">
        <parent link="support" />
        <child link="laser" />
        <origin xyz="${laser_x} ${laser_y} ${laser_z}" />
    </joint>
</robot>

my_car_camer.urdf.xacro：

<!-- 组合小车底盘与摄像头与雷达 -->
<robot name="my_car_camera" xmlns:xacro="http://wiki.ros.org/xacro">
    <xacro:include filename="my_base.urdf.xacro" />
    <xacro:include filename="my_camera.urdf.xacro" />
    <xacro:include filename="my_laser.urdf.xacro" />
</robot>

4、修改launch文件

<launch>
 
  <!-- 将 urdf 文件内容设置进参数服务器 -->
  <!-- <param name="robot_description" textfile="$(find jubot_demo)/urdf/box_urdf.urdf" /> -->
 
  <!-- 使用xacro优化urdf文件 -->
  <!-- <param name="robot_description" command="$(find xacro)/xacro $(find jubot_demo)/urdf/xacro/my_base.urdf.xacro" /> -->
    <param name="robot_description" command="$(find xacro)/xacro $(find jubot_demo)/urdf/xacro/my_car_camera.urdf.xacro" />
 
  <!-- 启动 rviz -->
  <!-- <node pkg="rviz" type="rviz" name="rviz" /> -->
  <node pkg="rviz" type="rviz" name="rviz" args="-d $(find jubot_demo)/config/rviz/show_four_wheel_car.rviz" />
 
  <!-- 启动机器人状态和关节状态发布节点 -->
  <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
  <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" />
 
  <!-- 启动图形化的控制关节运动节点 -->
  <node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui" />
 
 
</launch>

5、启动launch
roslaunch jubot_demo box_launch.launch
在这里插入图片描述

三、GAZEBO仿真

修改碰撞属性和惯性矩阵，导入到gazebo中。my_base.urdf.xacro：

 <robot name="base" xmlns:xacro="http://wiki.ros.org/xacro">
    <xacro:macro name="sphere_inertial_matrix" params="m r">
        <inertial>
            <mass value="${m}" />
            <inertia ixx="${2*m*r*r/5}" ixy="0" ixz="0"
                iyy="${2*m*r*r/5}" iyz="0" 
                izz="${2*m*r*r/5}" />
        </inertial>
    </xacro:macro>
 
    <xacro:macro name="cylinder_inertial_matrix" params="m r h">
        <inertial>
            <mass value="${m}" />
            <inertia ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"
                iyy="${m*(3*r*r+h*h)/12}" iyz = "0"
                izz="${m*r*r/2}" /> 
        </inertial>
    </xacro:macro>
 
    <xacro:macro name="Box_inertial_matrix" params="m l w h">
       <inertial>
               <mass value="${m}" />
               <inertia ixx="${m*(h*h + l*l)/12}" ixy = "0" ixz = "0"
                   iyy="${m*(w*w + l*l)/12}" iyz= "0"
                   izz="${m*(w*w + h*h)/12}" />
       </inertial>
   </xacro:macro>
</robot>

my_camera.urdf.xacro：

 <robot name="my_camera" xmlns:xacro="http://wiki.ros.org/xacro">
 
    <xacro:property name="camera_length" value="0.01" /> 
    <xacro:property name="camera_width" value="0.025" /> 
    <xacro:property name="camera_height" value="0.025" /> 
    <xacro:property name="camera_x" value="0.08" /> 
    <xacro:property name="camera_y" value="0.0" /> 
    <xacro:property name="camera_z" value="${base_link_length / 2 + camera_height / 2}" /> 
 
    <xacro:property name="camera_m" value="0.01" /> 
 
    <link name="camera">
        <visual>
            <geometry>
                <box size="${camera_length} ${camera_width} ${camera_height}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
            <material name="black" />
        </visual>
        <collision>
            <geometry>
                <box size="${camera_length} ${camera_width} ${camera_height}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
        </collision>
        <xacro:Box_inertial_matrix m="${camera_m}" l="${camera_length}" w="${camera_width}" h="${camera_height}" />
    </link>
 
    <joint name="camera2base_link" type="fixed">
        <parent link="base_link" />
        <child link="camera" />
        <origin xyz="${camera_x} ${camera_y} ${camera_z}" />
    </joint>
    <gazebo reference="camera">
        <material>Gazebo/Blue</material>
    </gazebo>
</robot>

my_car_camera.urdf.xacro：

 <robot name="my_laser" xmlns:xacro="http://wiki.ros.org/xacro">
 
    <xacro:property name="support_length" value="0.15" /> 
    <xacro:property name="support_radius" value="0.01" /> 
    <xacro:property name="support_x" value="0.0" /> 
    <xacro:property name="support_y" value="0.0" /> 
    <xacro:property name="support_z" value="${base_link_length / 2 + support_length / 2}" /> 
 
    <xacro:property name="support_m" value="0.02" /> 
 
    <link name="support">
        <visual>
            <geometry>
                <cylinder radius="${support_radius}" length="${support_length}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
            <material name="red">
                <color rgba="0.8 0.2 0.0 0.8" />
            </material>
        </visual>
 
        <collision>
            <geometry>
                <cylinder radius="${support_radius}" length="${support_length}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
        </collision>
 
        <xacro:cylinder_inertial_matrix m="${support_m}" r="${support_radius}" h="${support_length}" />
 
    </link>
 
    <joint name="support2base_link" type="fixed">
        <parent link="base_link" />
        <child link="support" />
        <origin xyz="${support_x} ${support_y} ${support_z}" />
    </joint>
 
    <gazebo reference="support">
        <material>Gazebo/White</material>
    </gazebo>
 
    <xacro:property name="laser_length" value="0.05" /> 
    <xacro:property name="laser_radius" value="0.03" /> 
    <xacro:property name="laser_x" value="0.0" /> 
    <xacro:property name="laser_y" value="0.0" /> 
    <xacro:property name="laser_z" value="${support_length / 2 + laser_length / 2}" /> 
 
    <xacro:property name="laser_m" value="0.1" /> 
 
    <link name="laser">
        <visual>
            <geometry>
                <cylinder radius="${laser_radius}" length="${laser_length}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
            <material name="black" />
        </visual>
        <collision>
            <geometry>
                <cylinder radius="${laser_radius}" length="${laser_length}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
        </collision>
        <xacro:cylinder_inertial_matrix m="${laser_m}" r="${laser_radius}" h="${laser_length}" />
    </link>
 
    <joint name="laser2support" type="fixed">
        <parent link="support" />
        <child link="laser" />
        <origin xyz="${laser_x} ${laser_y} ${laser_z}" />
    </joint>
    <gazebo reference="laser">
        <material>Gazebo/Black</material>
    </gazebo>
</robot>

my_laser.urdf.xacro：

<robot name="my_car_camera" xmlns:xacro="http://wiki.ros.org/xacro">
    <xacro:include filename="gazebo_head.xacro" />
    <xacro:include filename="gazebo_car.xacro" />
    <xacro:include filename="gazebo_laser.xacro" />
    <xacro:include filename="gazebo_camera.xacro" />
</robot>

在launch文件夹下创建文件gazebo_car.launch，在gazebo_car.launch文件中编写：

<launch>
    <param name="robot_description" command="$(find xacro)/xacro $(find urdf_gazebo)/urdf/xacro/gazebo_car_union.xacro" />
    <include file="$(find gazebo_ros)/launch/empty_world.launch" />
    <node pkg="gazebo_ros" type="spawn_model" name="model" args="-urdf -model mycar -param robot_description"  />
</launch>

orbslam2+kitti数据序列图像

下载
1.下载依赖

链接：https://gitcode.com/raulmur/ORB_SLAM2/overview?tab=readme-ov-file&utm_source=csdn_github_accelerator&isLogin=1

2.下载Pangolin

cd Pangolin
mkdir build && cd build
cmake ..
sudo make -j8

3.下载Ceres

sudo apt-get install  liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev
cd ceres-solver
mkdir build && cd build
cmake ..
sudo make -j8
sudo make install

4.下载g2o

sudo apt-get install qt5-qmake qt5-default libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3
cd g2o
mkdir build && cd build
cmake ..
sudo make -j8
sudo make install

5.下载DBoW3

mkdir build
cd build/
cmake ..
make
sudo make install

二.安装编译ORB_SLAM2

1.下载ORB_SLAM2的安装包

2.配置环境

cd ~/catkin_ws/src/ORB_SLAM2
sudo chmod +x build.sh
./build.sh

3.使用ROS编译

sudo chmod +x build_ros.sh
./build_ros.sh

运行Kitee数据集

1.准备数据集
下载链接：https://www.cvlibs.net/datasets/kitti/eval_odometry.php

2.运行ORB_SLAM2

make -j8
sudo make install

4.下载g2o

sudo apt-get install qt5-qmake qt5-default libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3
cd g2o
mkdir build && cd build
cmake …
sudo make -j8
sudo make install

5.下载DBoW3

mkdir build
cd build/
cmake …
make
sudo make install