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jiaweilong66
2025-06-26 12:02:01 +09:00
parent 23491dad2e
commit 1e40001e4c
25 changed files with 1212 additions and 0 deletions
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agv_pro_gazebo/CMakeLists.txt
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cmake_minimum_required(VERSION 3.8)
project(agv_pro_description)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
find_package(urdf REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
ament_lint_auto_find_test_dependencies()
endif()
install(DIRECTORY meshes urdf launch rviz config
DESTINATION share/${PROJECT_NAME}
)
ament_package()
agv_pro_gazebo/config/agv_control copy.yaml
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controller_manager:
ros__parameters:
update_rate: 100
joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
diff_drive_controller:
type: diff_drive_controller/DiffDriveController
left_wheel_names: ["left_front_wheel_joint", "left_rear_wheel_joint"]
right_wheel_names: ["right_front_wheel_joint", "right_rear_wheel_joint"]
wheel_separation: 0.36
wheel_radius: 0.05
base_frame_id: base_link
use_stamped_vel: false
publish_rate: 50
enable_odom_tf: true
odom_frame_id: odom
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]
agv_pro_gazebo/config/agv_control.yaml
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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]
agv_pro_gazebo/launch/agv_pro.launch.py
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import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch.actions import DeclareLaunchArgument
from launch_ros.actions import Node
import xacro
def generate_launch_description():
# Check if we're told to use sim time
use_sim_time = LaunchConfiguration('use_sim_time')
# Process the URDF file
pkg_path = os.path.join(get_package_share_directory('agv_pro_description'))
xacro_file = os.path.join(pkg_path,'urdf','agv_pro.xacro')
robot_description_config = xacro.process_file(xacro_file)
# Create a robot_state_publisher node
params = {'robot_description': robot_description_config.toxml(), 'use_sim_time': use_sim_time}
node_robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
output='screen',
parameters=[params]
)
# Launch!
return LaunchDescription([
DeclareLaunchArgument(
'use_sim_time',
default_value='false',
description='Use sim time if true'),
node_robot_state_publisher
])
agv_pro_gazebo/launch/agv_pro_display.launch.py
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import os
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.conditions import IfCondition
from launch.substitutions import LaunchConfiguration
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
use_rviz = LaunchConfiguration('use_rviz', default='true')
rviz_config_dir = os.path.join(
get_package_share_directory('agv_pro_description'),
'rviz',
'agvpro_display.rviz')
urdf_file = os.path.join(
get_package_share_directory('agv_pro_description'),
'urdf',
'agv_pro.urdf'
)
with open(urdf_file, 'r') as file:
robot_description_content = file.read()
return LaunchDescription([
Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher'
),
Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
parameters=[{'robot_description': robot_description_content}]
),
Node(
package='rviz2',
executable='rviz2',
name='rviz2',
arguments=['-d', rviz_config_dir],
condition=IfCondition(use_rviz),
output='screen')
])
agv_pro_gazebo/launch/agv_pro_gazebo.launch.py
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import os
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import Command
from launch_ros.actions import Node
from launch_ros.parameter_descriptions import ParameterValue
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
pkg_name = 'agv_pro_description'
pkg_dir = get_package_share_directory(pkg_name)
xacro_file = os.path.join(pkg_dir, 'urdf', 'agv_pro.xacro')
world_file = os.path.join(pkg_dir, 'worlds', 'empty.world')
rviz_config = os.path.join(pkg_dir, 'rviz', 'agvpro_display.rviz')
robot_description_content = ParameterValue(
Command(['xacro ', xacro_file]),
value_type=str
)
robot_description = {'robot_description': robot_description_content}
return LaunchDescription([
# Launch Gazebo
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')
),
launch_arguments={'world': world_file}.items()
),
# Spawn robot into Gazebo
Node(
package='gazebo_ros',
executable='spawn_entity.py',
arguments=['-topic', 'robot_description',
'-entity', 'agv_pro'],
output='screen'
),
# State publisher
Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
output='screen',
parameters=[robot_description]
),
Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
output='screen',
),
# Optional: RViz
Node(
package='rviz2',
executable='rviz2',
name='rviz2',
output='screen',
arguments=['-d', rviz_config],
),
])
agv_pro_gazebo/launch/agv_pro_gazebo.launchcopy.py
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import os
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription, ExecuteProcess
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
from launch_ros.actions import Node
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
pkg_name = 'agv_pro_description'
# Paths
pkg_dir = get_package_share_directory(pkg_name)
xacro_file = os.path.join(pkg_dir, 'urdf', 'agv_pro.xacro')
world_file = os.path.join(pkg_dir, 'worlds', 'empty.world') # 创建一个空 world 即可
rviz_config = os.path.join(pkg_dir, 'rviz', 'agvpro_display.rviz')
robot_description_content = Command(['xacro ', xacro_file])
robot_description = {'robot_description': robot_description_content}
return LaunchDescription([
# Start Gazebo with empty world
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
[os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]
),
launch_arguments={'world': world_file}.items()
),
# Spawn robot into Gazebo
Node(
package='gazebo_ros',
executable='spawn_entity.py',
arguments=['-topic', 'robot_description',
'-entity', 'agv_pro'],
output='screen'
),
# Robot state publisher
Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
output='screen',
parameters=[robot_description]
),
# Optionally publish joint states if not using controllers
Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
output='screen',
),
Node(
package='controller_manager',
executable='spawner',
arguments=['joint_state_broadcaster'],
output='screen',
),
# RViz (optional, visualize TF & model)
Node(
package='rviz2',
executable='rviz2',
name='rviz2',
output='screen',
arguments=['-d', rviz_config],
),
])
agv_pro_gazebo/launch/teleop_launch.py
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import os
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
Node(
package='teleop_twist_keyboard',
executable='teleop_twist_keyboard',
name='teleop_keyboard',
output='screen',
prefix='xterm -e', # 或 'gnome-terminal --' 替换为你的终端命令
remappings=[
('/cmd_vel', '/diff_drive_controller/cmd_vel_unstamped')
]
)
])
agv_pro_gazebo/launch/test.launch.py
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import os
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch_ros.actions import Node
from launch.substitutions import Command
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
pkg_dir = get_package_share_directory('agv_pro_description')
xacro_file = os.path.join(pkg_dir, 'urdf', 'minimal_robot.xacro')
world_file = os.path.join(pkg_dir, 'worlds', 'empty.world')
robot_description = {'robot_description': Command(['xacro ', xacro_file])}
return LaunchDescription([
IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')
),
launch_arguments={'world': world_file}.items()
),
Node(
package='robot_state_publisher',
executable='robot_state_publisher',
parameters=[robot_description],
output='screen'
),
Node(
package='gazebo_ros',
executable='spawn_entity.py',
arguments=['-topic', 'robot_description', '-entity', 'minimal_bot'],
output='screen'
)
])
agv_pro_gazebo/meshes/base_link.stl
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agv_pro_gazebo/meshes/laser_link.stl
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agv_pro_gazebo/meshes/wheel_lb_link.stl
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agv_pro_gazebo/meshes/wheel_lf_link.stl
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agv_pro_gazebo/meshes/wheel_rb_link.stl
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agv_pro_gazebo/meshes/wheel_rf_link.stl
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agv_pro_gazebo/package.xml
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>agv_pro_description</name>
<version>1.0.0</version>
<description>
<p>URDF Description package for AGV pro</p>
</description>
<maintainer email="weijun.xie@elephantrobotics.com">weijun.xie</maintainer>
<license>BSD-3-Clause license</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>
agv_pro_gazebo/rviz/agvpro_display.rviz
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Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
- /TF1
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
agv_pro_gazebo/urdf/agv_pro copy.xacro
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<?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>
agv_pro_gazebo/urdf/agv_pro.xacro
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<?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>
agv_pro_gazebo/urdf/agv_pro1.xacro
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<?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>
agv_pro_gazebo/urdf/minimal_robot.xacro
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<?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>
agv_pro_gazebo/urdf/parts/gazebo_control_plugin.xacro
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<?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>
agv_pro_gazebo/urdf/parts/wheel_macro.xacro
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<?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>
agv_pro_gazebo/urdf/ros2_controller.xacro
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<?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>
agv_pro_gazebo/worlds/empty.world
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<?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>