add agv_pro_gazebo

2025-06-26 12:02:01 +09:00
parent 23491dad2e
commit 1e40001e4c
25 changed files with 1212 additions and 0 deletions
@@ -0,0 +1,28 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # 控制器更新频率 (Hz)
+    use_sim_time: true  # 使用仿真时间
+
+    # 定义关节状态广播器
+    fishbot_joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+      use_sim_time: true
+
+    # 定义全向驱动控制器
+    fishbot_omni_drive_controller:
+      type: omni_drive_controller/OmniDriveController
+
+# 四轮全向控制器配置
+fishbot_omni_drive_controller:
+  ros__parameters:
+    front_left_wheel_joint: front_left_wheel_joint
+    front_right_wheel_joint: front_right_wheel_joint
+    rear_left_wheel_joint: rear_left_wheel_joint
+    rear_right_wheel_joint: rear_right_wheel_joint
+    wheel_separation: 0.36  # 轮距
+    wheel_diameter: 0.1  # 轮子直径
+    publish_rate: 50.0  # 发布频率
+    odom_frame_id: odom
+    base_frame_id: base_link
+    pose_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
+    twist_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]