add agv_pro_gazebo
This commit is contained in:
jiaweilong66
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cmake_minimum_required(VERSION 3.8)
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project(agv_pro_description)
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if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
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add_compile_options(-Wall -Wextra -Wpedantic)
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endif()
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# find dependencies
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find_package(ament_cmake REQUIRED)
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find_package(urdf REQUIRED)
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if(BUILD_TESTING)
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find_package(ament_lint_auto REQUIRED)
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ament_lint_auto_find_test_dependencies()
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endif()
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install(DIRECTORY meshes urdf launch rviz config
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DESTINATION share/${PROJECT_NAME}
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)
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ament_package()
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controller_manager:
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ros__parameters:
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update_rate: 100
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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diff_drive_controller:
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type: diff_drive_controller/DiffDriveController
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left_wheel_names: ["left_front_wheel_joint", "left_rear_wheel_joint"]
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right_wheel_names: ["right_front_wheel_joint", "right_rear_wheel_joint"]
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wheel_separation: 0.36
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wheel_radius: 0.05
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base_frame_id: base_link
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use_stamped_vel: false
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publish_rate: 50
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enable_odom_tf: true
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odom_frame_id: odom
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pose_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
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twist_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
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controller_manager:
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ros__parameters:
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update_rate: 100 # 控制器更新频率 (Hz)
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use_sim_time: true # 使用仿真时间
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# 定义关节状态广播器
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fishbot_joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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use_sim_time: true
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# 定义全向驱动控制器
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fishbot_omni_drive_controller:
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type: omni_drive_controller/OmniDriveController
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# 四轮全向控制器配置
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fishbot_omni_drive_controller:
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ros__parameters:
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front_left_wheel_joint: front_left_wheel_joint
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front_right_wheel_joint: front_right_wheel_joint
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rear_left_wheel_joint: rear_left_wheel_joint
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rear_right_wheel_joint: rear_right_wheel_joint
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wheel_separation: 0.36 # 轮距
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wheel_diameter: 0.1 # 轮子直径
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publish_rate: 50.0 # 发布频率
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odom_frame_id: odom
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base_frame_id: base_link
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pose_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
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twist_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.substitutions import LaunchConfiguration
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from launch.actions import DeclareLaunchArgument
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from launch_ros.actions import Node
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import xacro
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def generate_launch_description():
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# Check if we're told to use sim time
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use_sim_time = LaunchConfiguration('use_sim_time')
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# Process the URDF file
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pkg_path = os.path.join(get_package_share_directory('agv_pro_description'))
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xacro_file = os.path.join(pkg_path,'urdf','agv_pro.xacro')
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robot_description_config = xacro.process_file(xacro_file)
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# Create a robot_state_publisher node
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params = {'robot_description': robot_description_config.toxml(), 'use_sim_time': use_sim_time}
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node_robot_state_publisher = Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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output='screen',
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parameters=[params]
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)
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# Launch!
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return LaunchDescription([
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DeclareLaunchArgument(
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'use_sim_time',
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default_value='false',
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description='Use sim time if true'),
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node_robot_state_publisher
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])
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import os
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from launch import LaunchDescription
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from launch_ros.actions import Node
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from launch.conditions import IfCondition
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from launch.substitutions import LaunchConfiguration
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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use_rviz = LaunchConfiguration('use_rviz', default='true')
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rviz_config_dir = os.path.join(
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get_package_share_directory('agv_pro_description'),
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'rviz',
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'agvpro_display.rviz')
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urdf_file = os.path.join(
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get_package_share_directory('agv_pro_description'),
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'urdf',
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'agv_pro.urdf'
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)
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with open(urdf_file, 'r') as file:
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robot_description_content = file.read()
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return LaunchDescription([
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Node(
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package='joint_state_publisher',
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executable='joint_state_publisher',
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name='joint_state_publisher'
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),
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Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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parameters=[{'robot_description': robot_description_content}]
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),
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Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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arguments=['-d', rviz_config_dir],
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condition=IfCondition(use_rviz),
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output='screen')
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])
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import os
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import Command
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from launch_ros.actions import Node
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from launch_ros.parameter_descriptions import ParameterValue
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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pkg_name = 'agv_pro_description'
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pkg_dir = get_package_share_directory(pkg_name)
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xacro_file = os.path.join(pkg_dir, 'urdf', 'agv_pro.xacro')
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world_file = os.path.join(pkg_dir, 'worlds', 'empty.world')
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rviz_config = os.path.join(pkg_dir, 'rviz', 'agvpro_display.rviz')
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robot_description_content = ParameterValue(
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Command(['xacro ', xacro_file]),
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value_type=str
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)
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robot_description = {'robot_description': robot_description_content}
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return LaunchDescription([
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# Launch Gazebo
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')
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),
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launch_arguments={'world': world_file}.items()
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),
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# Spawn robot into Gazebo
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Node(
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package='gazebo_ros',
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executable='spawn_entity.py',
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arguments=['-topic', 'robot_description',
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'-entity', 'agv_pro'],
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output='screen'
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),
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# State publisher
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Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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output='screen',
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parameters=[robot_description]
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),
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Node(
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package='joint_state_publisher',
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executable='joint_state_publisher',
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name='joint_state_publisher',
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output='screen',
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),
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# Optional: RViz
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Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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output='screen',
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arguments=['-d', rviz_config],
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),
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])
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@@ -0,0 +1,71 @@
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import os
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription, ExecuteProcess
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
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from launch_ros.actions import Node
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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pkg_name = 'agv_pro_description'
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# Paths
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pkg_dir = get_package_share_directory(pkg_name)
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xacro_file = os.path.join(pkg_dir, 'urdf', 'agv_pro.xacro')
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world_file = os.path.join(pkg_dir, 'worlds', 'empty.world') # 创建一个空 world 即可
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rviz_config = os.path.join(pkg_dir, 'rviz', 'agvpro_display.rviz')
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robot_description_content = Command(['xacro ', xacro_file])
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robot_description = {'robot_description': robot_description_content}
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return LaunchDescription([
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# Start Gazebo with empty world
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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[os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]
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),
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launch_arguments={'world': world_file}.items()
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),
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# Spawn robot into Gazebo
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Node(
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package='gazebo_ros',
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executable='spawn_entity.py',
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arguments=['-topic', 'robot_description',
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'-entity', 'agv_pro'],
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output='screen'
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),
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# Robot state publisher
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Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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output='screen',
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parameters=[robot_description]
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),
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# Optionally publish joint states if not using controllers
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Node(
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package='joint_state_publisher',
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executable='joint_state_publisher',
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name='joint_state_publisher',
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output='screen',
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),
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Node(
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package='controller_manager',
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executable='spawner',
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arguments=['joint_state_broadcaster'],
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output='screen',
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),
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# RViz (optional, visualize TF & model)
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Node(
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package='rviz2',
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executable='rviz2',
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name='rviz2',
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output='screen',
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arguments=['-d', rviz_config],
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),
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])
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@@ -0,0 +1,17 @@
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import os
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from launch import LaunchDescription
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from launch_ros.actions import Node
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def generate_launch_description():
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return LaunchDescription([
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Node(
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package='teleop_twist_keyboard',
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executable='teleop_twist_keyboard',
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name='teleop_keyboard',
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output='screen',
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prefix='xterm -e', # 或 'gnome-terminal --' 替换为你的终端命令
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remappings=[
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('/cmd_vel', '/diff_drive_controller/cmd_vel_unstamped')
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]
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)
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])
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@@ -0,0 +1,35 @@
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import os
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node
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from launch.substitutions import Command
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from ament_index_python.packages import get_package_share_directory
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def generate_launch_description():
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pkg_dir = get_package_share_directory('agv_pro_description')
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xacro_file = os.path.join(pkg_dir, 'urdf', 'minimal_robot.xacro')
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world_file = os.path.join(pkg_dir, 'worlds', 'empty.world')
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robot_description = {'robot_description': Command(['xacro ', xacro_file])}
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return LaunchDescription([
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')
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),
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launch_arguments={'world': world_file}.items()
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),
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Node(
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package='robot_state_publisher',
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executable='robot_state_publisher',
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parameters=[robot_description],
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output='screen'
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),
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Node(
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package='gazebo_ros',
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executable='spawn_entity.py',
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arguments=['-topic', 'robot_description', '-entity', 'minimal_bot'],
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output='screen'
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)
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])
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@@ -0,0 +1,20 @@
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<?xml version="1.0"?>
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<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
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<package format="3">
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<name>agv_pro_description</name>
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<version>1.0.0</version>
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<description>
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<p>URDF Description package for AGV pro</p>
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</description>
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<maintainer email="weijun.xie@elephantrobotics.com">weijun.xie</maintainer>
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<license>BSD-3-Clause license</license>
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|
||||||
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<buildtool_depend>ament_cmake</buildtool_depend>
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||||||
|
|
||||||
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<test_depend>ament_lint_auto</test_depend>
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||||||
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<test_depend>ament_lint_common</test_depend>
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|
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<export>
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<build_type>ament_cmake</build_type>
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||||||
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</export>
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</package>
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@@ -0,0 +1,234 @@
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Panels:
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||||||
|
- Class: rviz_common/Displays
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||||||
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Help Height: 78
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|
Name: Displays
|
||||||
|
Property Tree Widget:
|
||||||
|
Expanded:
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||||||
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- /Global Options1
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||||||
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- /Status1
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- /RobotModel1
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- /TF1
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||||||
|
Splitter Ratio: 0.5
|
||||||
|
Tree Height: 549
|
||||||
|
- Class: rviz_common/Selection
|
||||||
|
Name: Selection
|
||||||
|
- Class: rviz_common/Tool Properties
|
||||||
|
Expanded:
|
||||||
|
- /2D Goal Pose1
|
||||||
|
- /Publish Point1
|
||||||
|
Name: Tool Properties
|
||||||
|
Splitter Ratio: 0.5886790156364441
|
||||||
|
- Class: rviz_common/Views
|
||||||
|
Expanded:
|
||||||
|
- /Current View1
|
||||||
|
Name: Views
|
||||||
|
Splitter Ratio: 0.5
|
||||||
|
- Class: rviz_common/Time
|
||||||
|
Experimental: false
|
||||||
|
Name: Time
|
||||||
|
SyncMode: 0
|
||||||
|
SyncSource: ""
|
||||||
|
Visualization Manager:
|
||||||
|
Class: ""
|
||||||
|
Displays:
|
||||||
|
- Alpha: 0.5
|
||||||
|
Cell Size: 1
|
||||||
|
Class: rviz_default_plugins/Grid
|
||||||
|
Color: 160; 160; 164
|
||||||
|
Enabled: true
|
||||||
|
Line Style:
|
||||||
|
Line Width: 0.029999999329447746
|
||||||
|
Value: Lines
|
||||||
|
Name: Grid
|
||||||
|
Normal Cell Count: 0
|
||||||
|
Offset:
|
||||||
|
X: 0
|
||||||
|
Y: 0
|
||||||
|
Z: 0
|
||||||
|
Plane: XY
|
||||||
|
Plane Cell Count: 10
|
||||||
|
Reference Frame: <Fixed Frame>
|
||||||
|
Value: true
|
||||||
|
- Alpha: 1
|
||||||
|
Class: rviz_default_plugins/RobotModel
|
||||||
|
Collision Enabled: false
|
||||||
|
Description File: ""
|
||||||
|
Description Source: Topic
|
||||||
|
Description Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /robot_description
|
||||||
|
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_footprint:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
base_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
laser_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
left_front_wheel_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
left_rear_wheel_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
right_front_wheel_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
right_rear_wheel_link:
|
||||||
|
Alpha: 1
|
||||||
|
Show Axes: false
|
||||||
|
Show Trail: false
|
||||||
|
Value: true
|
||||||
|
Mass Properties:
|
||||||
|
Inertia: false
|
||||||
|
Mass: false
|
||||||
|
Name: RobotModel
|
||||||
|
TF Prefix: ""
|
||||||
|
Update Interval: 0
|
||||||
|
Value: true
|
||||||
|
Visual Enabled: true
|
||||||
|
- Class: rviz_default_plugins/TF
|
||||||
|
Enabled: true
|
||||||
|
Frame Timeout: 15
|
||||||
|
Frames:
|
||||||
|
All Enabled: true
|
||||||
|
base_footprint:
|
||||||
|
Value: true
|
||||||
|
base_link:
|
||||||
|
Value: true
|
||||||
|
laser_link:
|
||||||
|
Value: true
|
||||||
|
left_front_wheel_link:
|
||||||
|
Value: true
|
||||||
|
left_rear_wheel_link:
|
||||||
|
Value: true
|
||||||
|
right_front_wheel_link:
|
||||||
|
Value: true
|
||||||
|
right_rear_wheel_link:
|
||||||
|
Value: true
|
||||||
|
Marker Scale: 1
|
||||||
|
Name: TF
|
||||||
|
Show Arrows: true
|
||||||
|
Show Axes: true
|
||||||
|
Show Names: false
|
||||||
|
Tree:
|
||||||
|
base_footprint:
|
||||||
|
base_link:
|
||||||
|
laser_link:
|
||||||
|
{}
|
||||||
|
left_front_wheel_link:
|
||||||
|
{}
|
||||||
|
left_rear_wheel_link:
|
||||||
|
{}
|
||||||
|
right_front_wheel_link:
|
||||||
|
{}
|
||||||
|
right_rear_wheel_link:
|
||||||
|
{}
|
||||||
|
Update Interval: 0
|
||||||
|
Value: true
|
||||||
|
Enabled: true
|
||||||
|
Global Options:
|
||||||
|
Background Color: 48; 48; 48
|
||||||
|
Fixed Frame: base_footprint
|
||||||
|
Frame Rate: 30
|
||||||
|
Name: root
|
||||||
|
Tools:
|
||||||
|
- Class: rviz_default_plugins/Interact
|
||||||
|
Hide Inactive Objects: true
|
||||||
|
- Class: rviz_default_plugins/MoveCamera
|
||||||
|
- Class: rviz_default_plugins/Select
|
||||||
|
- Class: rviz_default_plugins/FocusCamera
|
||||||
|
- Class: rviz_default_plugins/Measure
|
||||||
|
Line color: 128; 128; 0
|
||||||
|
- Class: rviz_default_plugins/SetInitialPose
|
||||||
|
Covariance x: 0.25
|
||||||
|
Covariance y: 0.25
|
||||||
|
Covariance yaw: 0.06853891909122467
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /initialpose
|
||||||
|
- Class: rviz_default_plugins/SetGoal
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /goal_pose
|
||||||
|
- Class: rviz_default_plugins/PublishPoint
|
||||||
|
Single click: true
|
||||||
|
Topic:
|
||||||
|
Depth: 5
|
||||||
|
Durability Policy: Volatile
|
||||||
|
History Policy: Keep Last
|
||||||
|
Reliability Policy: Reliable
|
||||||
|
Value: /clicked_point
|
||||||
|
Transformation:
|
||||||
|
Current:
|
||||||
|
Class: rviz_default_plugins/TF
|
||||||
|
Value: true
|
||||||
|
Views:
|
||||||
|
Current:
|
||||||
|
Class: rviz_default_plugins/Orbit
|
||||||
|
Distance: 1.6701574325561523
|
||||||
|
Enable Stereo Rendering:
|
||||||
|
Stereo Eye Separation: 0.05999999865889549
|
||||||
|
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: 0.05000000074505806
|
||||||
|
Invert Z Axis: false
|
||||||
|
Name: Current View
|
||||||
|
Near Clip Distance: 0.009999999776482582
|
||||||
|
Pitch: 0.785398006439209
|
||||||
|
Target Frame: <Fixed Frame>
|
||||||
|
Value: Orbit (rviz)
|
||||||
|
Yaw: 0.785398006439209
|
||||||
|
Saved: ~
|
||||||
|
Window Geometry:
|
||||||
|
Displays:
|
||||||
|
collapsed: false
|
||||||
|
Height: 846
|
||||||
|
Hide Left Dock: false
|
||||||
|
Hide Right Dock: true
|
||||||
|
QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
|
||||||
|
Selection:
|
||||||
|
collapsed: false
|
||||||
|
Time:
|
||||||
|
collapsed: false
|
||||||
|
Tool Properties:
|
||||||
|
collapsed: false
|
||||||
|
Views:
|
||||||
|
collapsed: true
|
||||||
|
Width: 1200
|
||||||
|
X: 720
|
||||||
|
Y: 343
|
||||||
@@ -0,0 +1,123 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
|
||||||
|
|
||||||
|
<!-- Gazebo-specific properties -->
|
||||||
|
<xacro:property name="wheel_damping" value="0.1"/>
|
||||||
|
<xacro:property name="wheel_axis" value="0 1 0"/>
|
||||||
|
|
||||||
|
<!-- Base footprint -->
|
||||||
|
<link name="base_footprint"/>
|
||||||
|
|
||||||
|
<joint name="base_joint" type="fixed">
|
||||||
|
<parent link="base_footprint"/>
|
||||||
|
<child link="base_link" />
|
||||||
|
<origin xyz="0 0 0.020" rpy="0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="base_link">
|
||||||
|
<inertial>
|
||||||
|
<origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
|
||||||
|
<mass value="19.236" />
|
||||||
|
<inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458" iyy="0.24191" iyz="0.0044629" izz="0.33755" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file://$(find agv_pro_description)/meshes/base_link.stl" />
|
||||||
|
</geometry>
|
||||||
|
<material name="">
|
||||||
|
<color rgba="1 1 1 1" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file://$(find agv_pro_description)/meshes/base_link.stl" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<!-- Gazebo plugin for control -->
|
||||||
|
<gazebo>
|
||||||
|
<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so"/>
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
<gazebo reference="base_link">
|
||||||
|
<material>Gazebo/White</material>
|
||||||
|
<mu1>1.0</mu1>
|
||||||
|
<mu2>1.0</mu2>
|
||||||
|
<kp>100000.0</kp>
|
||||||
|
<kd>1.0</kd>
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
<!-- Include wheel macros -->
|
||||||
|
<xacro:include filename="$(find agv_pro_description)/urdf/parts/wheel_macro.xacro"/>
|
||||||
|
<xacro:include filename="$(find agv_pro_description)/urdf/parts/gazebo_control_plugin.xacro"/>
|
||||||
|
<!-- Add all four wheels using macro -->
|
||||||
|
<xacro:wheel name="right_rear_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_rb_link.stl" origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
|
||||||
|
|
||||||
|
<xacro:wheel name="right_front_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_rf_link.stl" origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
|
||||||
|
|
||||||
|
<xacro:wheel name="left_front_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_lf_link.stl" origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0" mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07" iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
|
||||||
|
|
||||||
|
<xacro:wheel name="left_rear_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_lb_link.stl" origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0" mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07" iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
|
||||||
|
|
||||||
|
<!-- Lidar -->
|
||||||
|
<link name="laser_link">
|
||||||
|
<inertial>
|
||||||
|
<origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0" />
|
||||||
|
<mass value="0.049095" />
|
||||||
|
<inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07" iyy="2.0483E-05" iyz="-4.2154E-09" izz="3.4612E-05" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file://$(find agv_pro_description)/meshes/laser_link.stl" />
|
||||||
|
</geometry>
|
||||||
|
<material name="">
|
||||||
|
<color rgba="1 1 1 1" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file://$(find agv_pro_description)/meshes/laser_link.stl" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="lidar_joint" type="fixed">
|
||||||
|
<origin xyz="0.17891 0 0.20928" rpy="0 0 0" />
|
||||||
|
<parent link="base_link" />
|
||||||
|
<child link="laser_link" />
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<!-- ros2_control tag -->
|
||||||
|
<ros2_control name="AGVHardware" type="system">
|
||||||
|
<hardware>
|
||||||
|
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
|
||||||
|
</hardware>
|
||||||
|
|
||||||
|
<joint name="right_rear_wheel_joint">
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_front_wheel_joint">
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_front_wheel_joint">
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_rear_wheel_joint">
|
||||||
|
<command_interface name="velocity"/>
|
||||||
|
<state_interface name="position"/>
|
||||||
|
<state_interface name="velocity"/>
|
||||||
|
</joint>
|
||||||
|
</ros2_control>
|
||||||
|
|
||||||
|
</robot>
|
||||||
@@ -0,0 +1,93 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="agv_pro">
|
||||||
|
|
||||||
|
<!-- Define vehicle dimensions -->
|
||||||
|
<xacro:property name="vehicle_width" value="0.36"/> <!-- 车辆宽度 -->
|
||||||
|
<xacro:property name="wheel_radius" value="0.05"/> <!-- 轮子半径 -->
|
||||||
|
|
||||||
|
<!-- Gazebo-specific properties -->
|
||||||
|
<xacro:property name="wheel_damping" value="0.1"/>
|
||||||
|
<xacro:property name="wheel_axis" value="0 1 0"/>
|
||||||
|
|
||||||
|
<!-- Base footprint -->
|
||||||
|
<link name="base_footprint"/>
|
||||||
|
|
||||||
|
<joint name="base_joint" type="fixed">
|
||||||
|
<parent link="base_footprint"/>
|
||||||
|
<child link="base_link" />
|
||||||
|
<origin xyz="0 0 0.020" rpy="0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="base_link">
|
||||||
|
<inertial>
|
||||||
|
<origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
|
||||||
|
<mass value="19.236" />
|
||||||
|
<inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458" iyy="0.24191" iyz="0.0044629" izz="0.33755" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file://$(find agv_pro_description)/meshes/base_link.stl" />
|
||||||
|
</geometry>
|
||||||
|
<material name=""/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file://$(find agv_pro_description)/meshes/base_link.stl" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<!-- Include wheel macros & controller definitions -->
|
||||||
|
<xacro:include filename="$(find agv_pro_description)/urdf/parts/wheel_macro.xacro"/>
|
||||||
|
|
||||||
|
<!-- Wheels definition -->
|
||||||
|
<!-- Right Rear Wheel -->
|
||||||
|
<xacro:wheel name="right_rear_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_rb_link.stl" origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
|
||||||
|
|
||||||
|
<!-- Right Front Wheel -->
|
||||||
|
<xacro:wheel name="right_front_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_rf_link.stl" origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
|
||||||
|
|
||||||
|
<!-- Left Front Wheel -->
|
||||||
|
<xacro:wheel name="left_front_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_lf_link.stl" origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0" mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07" iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
|
||||||
|
|
||||||
|
<!-- Left Rear Wheel -->
|
||||||
|
<xacro:wheel name="left_rear_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_lb_link.stl" origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0" mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07" iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
|
||||||
|
|
||||||
|
|
||||||
|
<!-- Lidar definition -->
|
||||||
|
<link name="laser_link">
|
||||||
|
<inertial>
|
||||||
|
<origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0" />
|
||||||
|
<mass value="0.049095" />
|
||||||
|
<inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07" iyy="2.0483E-05" iyz="-4.2154E-09" izz="3.4612E-05" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file://$(find agv_pro_description)/meshes/laser_link.stl" />
|
||||||
|
</geometry>
|
||||||
|
<material name=""/>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="file://$(find agv_pro_description)/meshes/laser_link.stl" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="lidar_joint" type="fixed">
|
||||||
|
<origin xyz="0.17891 0 0.20928" rpy="0 0 0" />
|
||||||
|
<parent link="base_link" />
|
||||||
|
<child link="laser_link" />
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<!-- Include ros2_controller.xacro to define controllers -->
|
||||||
|
<xacro:include filename="$(find agv_pro_description)/urdf/parts/gazebo_control_plugin.xacro"/>
|
||||||
|
<xacro:include filename="$(find agv_pro_description)/urdf/ros2_controller.xacro"/>
|
||||||
|
<xacro:ros2_controller/>
|
||||||
|
<xacro:gazebo_control_plugin/>
|
||||||
|
|
||||||
|
</robot>
|
||||||
@@ -0,0 +1,144 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
|
||||||
|
|
||||||
|
<xacro:property name="wheel_axis" value="0 1 0"/>
|
||||||
|
<xacro:property name="wheel_damping" value="0.1"/>
|
||||||
|
|
||||||
|
<!-- Macro: wheel with Gazebo plugin -->
|
||||||
|
<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="${mesh}" />
|
||||||
|
</geometry>
|
||||||
|
<material name=""><color rgba="1 1 1 1"/></material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="${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="${wheel_axis}"/>
|
||||||
|
<dynamics damping="${wheel_damping}"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<transmission name="${name}_trans">
|
||||||
|
<type>transmission_interface/SimpleTransmission</type>
|
||||||
|
<actuator name="${name}_motor">
|
||||||
|
<mechanicalReduction>1</mechanicalReduction>
|
||||||
|
</actuator>
|
||||||
|
<joint name="${name}_joint">
|
||||||
|
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
|
||||||
|
</joint>
|
||||||
|
</transmission>
|
||||||
|
|
||||||
|
<gazebo reference="${name}_link">
|
||||||
|
<mu1>0.8</mu1>
|
||||||
|
<mu2>0.8</mu2>
|
||||||
|
<kp>100000.0</kp>
|
||||||
|
<kd>1.0</kd>
|
||||||
|
<material>Gazebo/Grey</material>
|
||||||
|
</gazebo>
|
||||||
|
</xacro:macro>
|
||||||
|
|
||||||
|
<!-- Base links -->
|
||||||
|
<link name="base_footprint"/>
|
||||||
|
|
||||||
|
<joint name="base_joint" type="fixed">
|
||||||
|
<parent link="base_footprint"/>
|
||||||
|
<child link="base_link"/>
|
||||||
|
<origin xyz="0 0 0.020" rpy="0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="base_link">
|
||||||
|
<inertial>
|
||||||
|
<origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
|
||||||
|
<mass value="19.236" />
|
||||||
|
<inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458"
|
||||||
|
iyy="0.24191" iyz="0.0044629" izz="0.33755"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://agv_pro_description/meshes/base_link.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://agv_pro_description/meshes/base_link.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<!-- Gazebo plugin for ros2_control -->
|
||||||
|
<gazebo>
|
||||||
|
<plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so"/>
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
<!-- Wheels -->
|
||||||
|
<xacro:wheel name="right_rear_wheel"
|
||||||
|
mesh="package://agv_pro_description/meshes/wheel_rb_link.stl"
|
||||||
|
origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0"
|
||||||
|
mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07"
|
||||||
|
iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
|
||||||
|
|
||||||
|
<xacro:wheel name="right_front_wheel"
|
||||||
|
mesh="package://agv_pro_description/meshes/wheel_rf_link.stl"
|
||||||
|
origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0"
|
||||||
|
mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07"
|
||||||
|
iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
|
||||||
|
|
||||||
|
<xacro:wheel name="left_front_wheel"
|
||||||
|
mesh="package://agv_pro_description/meshes/wheel_lf_link.stl"
|
||||||
|
origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0"
|
||||||
|
mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07"
|
||||||
|
iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
|
||||||
|
|
||||||
|
<xacro:wheel name="left_rear_wheel"
|
||||||
|
mesh="package://agv_pro_description/meshes/wheel_lb_link.stl"
|
||||||
|
origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0"
|
||||||
|
mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07"
|
||||||
|
iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
|
||||||
|
|
||||||
|
<!-- Lidar -->
|
||||||
|
<link name="laser_link">
|
||||||
|
<inertial>
|
||||||
|
<origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0"/>
|
||||||
|
<mass value="0.049095"/>
|
||||||
|
<inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07"
|
||||||
|
iyy="2.0483E-05" iyz="-4.2154E-09" izz="3.4612E-05"/>
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://agv_pro_description/meshes/laser_link.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0"/>
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="package://agv_pro_description/meshes/laser_link.stl"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="lidar_joint" type="fixed">
|
||||||
|
<origin xyz="0.17891 0 0.20928" rpy="0 0 0"/>
|
||||||
|
<parent link="base_link"/>
|
||||||
|
<child link="laser_link"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
</robot>
|
||||||
@@ -0,0 +1,91 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
|
||||||
|
|
||||||
|
<!-- Gazebo-specific properties -->
|
||||||
|
<xacro:property name="wheel_damping" value="0.1"/>
|
||||||
|
<xacro:property name="wheel_axis" value="0 1 0"/>
|
||||||
|
|
||||||
|
<!-- Base footprint -->
|
||||||
|
<link name="base_footprint"/>
|
||||||
|
|
||||||
|
<joint name="base_joint" type="fixed">
|
||||||
|
<parent link="base_footprint"/>
|
||||||
|
<child link="base_link" />
|
||||||
|
<origin xyz="0 0 0.020" rpy="0 0 0"/>
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<link name="base_link">
|
||||||
|
<inertial>
|
||||||
|
<origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
|
||||||
|
<mass value="19.236" />
|
||||||
|
<inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458" iyy="0.24191" iyz="0.0044629" izz="0.33755" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="model://agv_pro_description/meshes/base_link.stl" />
|
||||||
|
</geometry>
|
||||||
|
<material name="">
|
||||||
|
<color rgba="1 1 1 1" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="model://agv_pro_description/meshes/base_link.stl" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<gazebo reference="base_link">
|
||||||
|
<material>Gazebo/White</material>
|
||||||
|
<mu1>1.0</mu1>
|
||||||
|
<mu2>1.0</mu2>
|
||||||
|
<kp>100000.0</kp>
|
||||||
|
<kd>1.0</kd>
|
||||||
|
</gazebo>
|
||||||
|
|
||||||
|
<!-- Include wheel macros & plugin -->
|
||||||
|
<xacro:include filename="$(find agv_pro_description)/urdf/parts/wheel_macro.xacro"/>
|
||||||
|
<xacro:include filename="$(find agv_pro_description)/urdf/parts/gazebo_control_plugin.xacro"/>
|
||||||
|
|
||||||
|
<!-- All four wheels with corrected mesh paths -->
|
||||||
|
<xacro:wheel name="right_rear_wheel" mesh="model://agv_pro_description/meshes/wheel_rb_link.stl" origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
|
||||||
|
<xacro:wheel name="right_front_wheel" mesh="model://agv_pro_description/meshes/wheel_rf_link.stl" origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
|
||||||
|
<xacro:wheel name="left_front_wheel" mesh="model://agv_pro_description/meshes/wheel_lf_link.stl" origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0" mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07" iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
|
||||||
|
<xacro:wheel name="left_rear_wheel" mesh="model://agv_pro_description/meshes/wheel_lb_link.stl" origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0" mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07" iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
|
||||||
|
|
||||||
|
<!-- Lidar -->
|
||||||
|
<link name="laser_link">
|
||||||
|
<inertial>
|
||||||
|
<origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0" />
|
||||||
|
<mass value="0.049095" />
|
||||||
|
<inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07" iyy="2.0483E-05" iyz="-4.2154E-09" izz="3.4612E-05" />
|
||||||
|
</inertial>
|
||||||
|
<visual>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="model://agv_pro_description/meshes/laser_link.stl" />
|
||||||
|
</geometry>
|
||||||
|
<material name="">
|
||||||
|
<color rgba="1 1 1 1" />
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
<collision>
|
||||||
|
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||||
|
<geometry>
|
||||||
|
<mesh filename="model://agv_pro_description/meshes/laser_link.stl" />
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
|
||||||
|
<joint name="lidar_joint" type="fixed">
|
||||||
|
<origin xyz="0.17891 0 0.20928" rpy="0 0 0" />
|
||||||
|
<parent link="base_link" />
|
||||||
|
<child link="laser_link" />
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<!-- 插件调用 -->
|
||||||
|
<xacro:gazebo_control_plugin/>
|
||||||
|
|
||||||
|
</robot>
|
||||||
@@ -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>
|
||||||
@@ -0,0 +1,57 @@
|
|||||||
|
<?xml version="1.0"?>
|
||||||
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
|
<xacro:macro name="ros2_controller">
|
||||||
|
<ros2_control name="FishBotGazeboSystem" type="system">
|
||||||
|
<hardware>
|
||||||
|
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
|
||||||
|
</hardware>
|
||||||
|
|
||||||
|
<!-- 配置所有轮子的控制接口 -->
|
||||||
|
<joint name="front_left_wheel_joint">
|
||||||
|
<command_interface name="position" />
|
||||||
|
<command_interface name="velocity" />
|
||||||
|
<command_interface name="effort" />
|
||||||
|
<state_interface name="position" />
|
||||||
|
<state_interface name="velocity" />
|
||||||
|
<state_interface name="effort" />
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="front_right_wheel_joint">
|
||||||
|
<command_interface name="position" />
|
||||||
|
<command_interface name="velocity" />
|
||||||
|
<command_interface name="effort" />
|
||||||
|
<state_interface name="position" />
|
||||||
|
<state_interface name="velocity" />
|
||||||
|
<state_interface name="effort" />
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="rear_left_wheel_joint">
|
||||||
|
<command_interface name="position" />
|
||||||
|
<command_interface name="velocity" />
|
||||||
|
<command_interface name="effort" />
|
||||||
|
<state_interface name="position" />
|
||||||
|
<state_interface name="velocity" />
|
||||||
|
<state_interface name="effort" />
|
||||||
|
</joint>
|
||||||
|
|
||||||
|
<joint name="rear_right_wheel_joint">
|
||||||
|
<command_interface name="position" />
|
||||||
|
<command_interface name="velocity" />
|
||||||
|
<command_interface name="effort" />
|
||||||
|
<state_interface name="position" />
|
||||||
|
<state_interface name="velocity" />
|
||||||
|
<state_interface name="effort" />
|
||||||
|
</joint>
|
||||||
|
</ros2_control>
|
||||||
|
|
||||||
|
<gazebo>
|
||||||
|
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
|
||||||
|
<parameters>$(find agv_pro_description)/config/agv_control.yaml</parameters>
|
||||||
|
<ros>
|
||||||
|
<remapping>/omni_drive_controller/cmd_vel:=/cmd_vel</remapping>
|
||||||
|
<remapping>/omni_drive_controller/odom:=/odom</remapping>
|
||||||
|
</ros>
|
||||||
|
</plugin>
|
||||||
|
</gazebo>
|
||||||
|
</xacro:macro>
|
||||||
|
</robot>
|
||||||
@@ -0,0 +1,11 @@
|
|||||||
|
<?xml version="1.0" ?>
|
||||||
|
<sdf version="1.6">
|
||||||
|
<world name="empty_world">
|
||||||
|
<include>
|
||||||
|
<uri>model://ground_plane</uri>
|
||||||
|
</include>
|
||||||
|
<include>
|
||||||
|
<uri>model://sun</uri>
|
||||||
|
</include>
|
||||||
|
</world>
|
||||||
|
</sdf>
|
||||||
Reference in New Issue
Block a user