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 +1,30 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="gazebo_control_plugin">
+    <gazebo>
+      <!-- 使用全向控制插件 -->
+      <plugin filename="libgazebo_ros_planar_move.so" name="mecanum_drive_controller">
+        <ros>
+          <remapping>cmd_vel:=/cmd_vel</remapping>
+          <remapping>odom:=/odom</remapping>
+        </ros>
+
+        <!-- 配置全向控制 -->
+        <frontLeftJoint>front_left_wheel_joint</frontLeftJoint>    <!-- 前左轮 -->
+        <frontRightJoint>front_right_wheel_joint</frontRightJoint>  <!-- 前右轮 -->
+        <rearLeftJoint>rear_left_wheel_joint</rearLeftJoint>        <!-- 后左轮 -->
+        <rearRightJoint>rear_right_wheel_joint</rearRightJoint>     <!-- 后右轮 -->
+
+        <wheelDiameter>0.1</wheelDiameter>   <!-- 轮子直径 -->
+        <wheelSeparation>0.36</wheelSeparation>  <!-- 轮距（车辆宽度） -->
+
+        <torque>20</torque>  <!-- 轮子扭矩 -->
+        <topicName>cmd_vel</topicName>  <!-- 控制命令话题 -->
+        <odometryFrame>odom</odometryFrame>  <!-- 里程计坐标系 -->
+        <odometryTopic>odom</odometryTopic>  <!-- 里程计话题 -->
+        <robotBaseFrame>base_footprint</robotBaseFrame>  <!-- 机器人基础坐标系 -->
+        <publishOdomTF>true</publishOdomTF>  <!-- 发布里程计变换 -->
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+</robot>
@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="wheel" params="name mesh origin_xyz origin_rpy mass ixx ixy ixz iyy iyz izz">
+
+    <link name="${name}_link">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="${mass}" />
+        <inertia ixx="${ixx}" ixy="${ixy}" ixz="${ixz}" iyy="${iyy}" iyz="${iyz}" izz="${izz}" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="${mesh}" />
+        </geometry>
+        <material name="gray">
+          <color rgba="0.3 0.3 0.3 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="${mesh}" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${name}_joint" type="continuous">
+      <origin xyz="${origin_xyz}" rpy="${origin_rpy}" />
+      <parent link="base_link" />
+      <child link="${name}_link" />
+      <axis xyz="0 1 0"/>
+      <dynamics damping="0.1"/>
+    </joint>
+
+    <!-- Correct transmission for ROS2 -->
+    <transmission name="${name}_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${name}_joint">
+        <hardwareInterface>hardware_interface/velocity</hardwareInterface>
+      </joint>
+      <actuator name="${name}_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+        <hardwareInterface>hardware_interface/velocity</hardwareInterface>
+      </actuator>
+    </transmission>
+
+    <gazebo reference="${name}_link">
+      <mu1>0.8</mu1>
+      <mu2>0.8</mu2>
+      <kp>100000.0</kp>
+      <kd>1.0</kd>
+      <material>Gazebo/Black</material>
+    </gazebo>
+
+  </xacro:macro>
+</robot>