ROS机器人018-机器人xacro机器人模型在gazebo环境与RVIZ环境显示

最新推荐文章于 2024-11-20 13:13:13 发布

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最新推荐文章于 2024-11-20 13:13:13 发布 · 1k 阅读

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前言：本节完成机器人模型在gaebo显示和RVIZ仿真环境中显示，
摄像头模型和激光雷达模型已经加入到文件中

一、首先新建机器人的launch启动文件

目录：~/catkin_ws/src/mbot_gazebo/launch/view
_mbot_gazebo_camera_room.launch

<launch>

    <!-- 设置launch文件的参数 -->
    <arg name="world_name" value="$(find mbot_gazebo)/worlds/playground.world"/>
    <arg name="paused" default="false"/>
    <arg name="use_sim_time" default="true"/>
    <arg name="gui" default="true"/>
    <arg name="headless" default="false"/>
    <arg name="debug" default="false"/>

    <!-- 运行gazebo仿真环境 -->
    <include file="$(find gazebo_ros)/launch/empty_world.launch">
        <arg name="world_name" value="$(arg world_name)" />
        <arg name="debug" value="$(arg debug)" />
        <arg name="gui" value="$(arg gui)" />
        <arg name="paused" value="$(arg paused)"/>
        <arg name="use_sim_time" value="$(arg use_sim_time)"/>
        <arg name="headless" value="$(arg headless)"/>
    </include>

    <!-- 加载机器人模型描述参数 -->
    <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/gazebo/mbot_with_laserandcamera_gazebo.xacro'" /> 
    

    <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> 

    <!-- 运行robot_state_publisher节点，发布tf  -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
        <param name="publish_frequency" type="double" value="50.0" />
    </node>

    <!-- 在gazebo中加载机器人模型-->
    <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
          args="-urdf -model mbot -param robot_description"/> 

    <!-- 运行rviz可视化界面 -->
        <node name="rviz" pkg="rviz" type="rviz" args="-d $(find mbot_description)/config/mbot_urdf.rviz" required="true" />


</launch>

二、新建mbot_with_laserandcamera_gazebo.xacro

目录:~/catkin_ws/src/mbot_description/urdf/xacro/gazebo/mbot_with_laserandcamera_gaze.xacro

<?xml version="1.0"?>
<robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">

    <xacro:include filename="$(find mbot_description)/urdf/xacro/gazebo/mbot_base_gazebo.xacro" />
    <xacro:include filename="$(find mbot_description)/urdf/xacro/sensors/lidar_gazebo.xacro" />
    <xacro:include filename="$(find mbot_description)/urdf/xacro/sensors/camera_gazebo.xacro" />

    <xacro:property name="lidar_offset_x" value="0" />
    <xacro:property name="lidar_offset_y" value="0" />
    <xacro:property name="lidar_offset_z" value="0.0825" />
 
    <xacro:property name="camera_offset_x" value="0.17" />
    <xacro:property name="camera_offset_y" value="0" />
    <xacro:property name="camera_offset_z" value="0.0775" />

    <!-- lidar -->
    <joint name=