Staging checkin for the simulation migration
This commit is contained in:
Matt Spencer
@@ -14,7 +14,7 @@ if(BUILD_TESTING)
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ament_lint_auto_find_test_dependencies()
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ament_lint_auto_find_test_dependencies()
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endif()
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endif()
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install(DIRECTORY meshes urdf launch rviz config
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install(DIRECTORY meshes urdf launch rviz config worlds
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DESTINATION share/${PROJECT_NAME}
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DESTINATION share/${PROJECT_NAME}
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)
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)
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@@ -1,23 +0,0 @@
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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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@@ -4,25 +4,36 @@ controller_manager:
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use_sim_time: true # 使用仿真时间
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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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# 定义关节状态广播器
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fishbot_joint_state_broadcaster:
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joint_state_broadcaster:
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type: joint_state_broadcaster/JointStateBroadcaster
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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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# 定义麦克纳姆轮驱动控制器
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fishbot_omni_drive_controller:
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mecanum_drive_controller:
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type: omni_drive_controller/OmniDriveController
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type: mecanum_drive_controller/MecanumDriveController
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# 四轮全向控制器配置
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# 麦克纳姆四轮驱动控制器配置
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fishbot_omni_drive_controller:
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mecanum_drive_controller:
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ros__parameters:
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ros__parameters:
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front_left_wheel_joint: front_left_wheel_joint
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reference_timeout: 0.5
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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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# 命令关节 (velocity command interface)
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rear_right_wheel_joint: rear_right_wheel_joint
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front_left_wheel_command_joint_name: left_front_wheel_joint
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wheel_separation: 0.36 # 轮距
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front_right_wheel_command_joint_name: right_front_wheel_joint
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wheel_diameter: 0.1 # 轮子直径
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rear_left_wheel_command_joint_name: left_rear_wheel_joint
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publish_rate: 50.0 # 发布频率
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rear_right_wheel_command_joint_name: right_rear_wheel_joint
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odom_frame_id: odom
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kinematics:
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base_frame_offset:
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x: 0.0
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y: 0.0
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theta: 0.0
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wheels_radius: 0.05 # 轮子半径
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# lx + ly : 底盘中心到轮子在 X 与 Y 方向投影之和
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sum_of_robot_center_projection_on_X_Y_axis: 0.35
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base_frame_id: base_link
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base_frame_id: base_link
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odom_frame_id: odom
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enable_odom_tf: true
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pose_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
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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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twist_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
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@@ -1,65 +1,145 @@
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import os
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import os
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from launch import LaunchDescription
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription
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from launch.actions import (
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IncludeLaunchDescription,
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DeclareLaunchArgument,
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RegisterEventHandler,
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TimerAction,
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)
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from launch.conditions import IfCondition
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from launch.event_handlers import OnProcessExit
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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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.substitutions import Command, LaunchConfiguration, PythonExpression
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from launch_ros.actions import Node
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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 launch_ros.parameter_descriptions import ParameterValue
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from ament_index_python.packages import get_package_share_directory
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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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def generate_launch_description():
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pkg_name = 'agv_pro_gazebo'
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pkg_gazebo = get_package_share_directory('agv_pro_gazebo')
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pkg_dir = get_package_share_directory(pkg_name)
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pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
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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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xacro_file = os.path.join(pkg_gazebo, 'urdf', 'agv_pro.xacro')
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Command(['xacro ', xacro_file]),
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world_file = os.path.join(pkg_gazebo, 'worlds', 'empty.world')
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value_type=str
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rviz_config = os.path.join(pkg_gazebo, 'rviz', 'agvpro_display.rviz')
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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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use_sim_time = LaunchConfiguration('use_sim_time')
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# Launch Gazebo
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use_rviz = LaunchConfiguration('use_rviz')
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IncludeLaunchDescription(
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headless = LaunchConfiguration('headless')
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robot_description = {
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'robot_description': ParameterValue(
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Command(['xacro ', xacro_file]), value_type=str
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),
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'use_sim_time': use_sim_time,
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}
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# Start gz-sim (Gazebo Harmonic) with the world.
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# '-s' (server only) is added when headless:=true.
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gz_args = PythonExpression([
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"'-r -v4 -s ' + ", repr(world_file),
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" if '", headless, "' == 'true' ",
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"else '-r -v4 ' + ", repr(world_file),
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])
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gz_sim = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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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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os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')
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),
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launch_arguments={'world': world_file}.items()
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),
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),
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launch_arguments={'gz_args': gz_args}.items(),
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)
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# Spawn robot into Gazebo
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# Publish the robot description (also consumed by gz_ros2_control)
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Node(
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robot_state_publisher = 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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package='robot_state_publisher',
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executable='robot_state_publisher',
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executable='robot_state_publisher',
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name='robot_state_publisher',
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name='robot_state_publisher',
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output='screen',
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output='screen',
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parameters=[robot_description]
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parameters=[robot_description],
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),
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)
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Node(
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# Spawn the robot into gz-sim from the robot_description topic.
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package='joint_state_publisher',
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# Delayed so robot_state_publisher has latched /robot_description before the
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executable='joint_state_publisher',
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# gz_ros2_control plugin (loaded on spawn) reads it — avoids a startup race
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name='joint_state_publisher',
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# where the in-sim controller_manager sees no <ros2_control> tag.
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spawn_entity = Node(
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package='ros_gz_sim',
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executable='create',
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arguments=['-topic', 'robot_description', '-name', 'agv_pro', '-z', '0.1'],
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output='screen',
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output='screen',
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),
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)
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delayed_spawn = TimerAction(period=3.0, actions=[spawn_entity])
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# Optional: RViz
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# Bridge the simulation clock so ROS nodes get /clock
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Node(
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clock_bridge = Node(
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package='ros_gz_bridge',
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executable='parameter_bridge',
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arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
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output='screen',
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)
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# Controllers (controller_manager runs inside the gz_ros2_control plugin)
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joint_state_broadcaster_spawner = Node(
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package='controller_manager',
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executable='spawner',
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arguments=[
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'joint_state_broadcaster',
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'--controller-manager', '/controller_manager',
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],
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output='screen',
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)
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mecanum_drive_controller_spawner = Node(
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package='controller_manager',
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executable='spawner',
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arguments=[
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'mecanum_drive_controller',
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'--controller-manager', '/controller_manager',
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],
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output='screen',
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)
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rviz = Node(
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package='rviz2',
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package='rviz2',
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executable='rviz2',
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executable='rviz2',
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name='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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arguments=['-d', rviz_config],
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parameters=[{'use_sim_time': use_sim_time}],
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condition=IfCondition(use_rviz),
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output='screen',
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)
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return LaunchDescription([
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DeclareLaunchArgument(
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'use_sim_time',
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default_value='true',
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description='Use the Gazebo simulation clock',
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),
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),
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DeclareLaunchArgument(
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'use_rviz',
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default_value='true',
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description='Launch RViz2',
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),
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DeclareLaunchArgument(
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'headless',
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default_value='false',
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description='Run gz-sim without the GUI (server only)',
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),
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gz_sim,
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robot_state_publisher,
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clock_bridge,
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delayed_spawn,
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# Load controllers only after the robot has been spawned
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RegisterEventHandler(
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OnProcessExit(
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target_action=spawn_entity,
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on_exit=[joint_state_broadcaster_spawner],
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)
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),
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RegisterEventHandler(
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OnProcessExit(
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target_action=joint_state_broadcaster_spawner,
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on_exit=[mecanum_drive_controller_spawner],
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)
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),
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rviz,
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])
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])
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@@ -1,71 +0,0 @@
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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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|
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package='controller_manager',
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|
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executable='spawner',
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|
||||||
arguments=['joint_state_broadcaster'],
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|
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output='screen',
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|
||||||
),
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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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|
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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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|
||||||
@@ -2,6 +2,7 @@ import os
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|||||||
from launch import LaunchDescription
|
from launch import LaunchDescription
|
||||||
from launch_ros.actions import Node
|
from launch_ros.actions import Node
|
||||||
|
|
||||||
|
|
||||||
def generate_launch_description():
|
def generate_launch_description():
|
||||||
return LaunchDescription([
|
return LaunchDescription([
|
||||||
Node(
|
Node(
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||||||
@@ -10,8 +11,14 @@ def generate_launch_description():
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|||||||
name='teleop_keyboard',
|
name='teleop_keyboard',
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||||||
output='screen',
|
output='screen',
|
||||||
prefix='xterm -e', # 或 'gnome-terminal --' 替换为你的终端命令
|
prefix='xterm -e', # 或 'gnome-terminal --' 替换为你的终端命令
|
||||||
|
# mecanum_drive_controller expects a stamped reference; teleop must
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||||||
|
# publish geometry_msgs/TwistStamped with a fresh timestamp.
|
||||||
|
parameters=[{
|
||||||
|
'stamped': True,
|
||||||
|
'frame_id': 'base_link',
|
||||||
|
}],
|
||||||
remappings=[
|
remappings=[
|
||||||
('/cmd_vel', '/diff_drive_controller/cmd_vel_unstamped')
|
('/cmd_vel', '/mecanum_drive_controller/reference'),
|
||||||
]
|
]
|
||||||
)
|
)
|
||||||
])
|
])
|
||||||
|
|||||||
@@ -12,8 +12,12 @@
|
|||||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
<buildtool_depend>ament_cmake</buildtool_depend>
|
||||||
<buildtool_depend>xacro</buildtool_depend>
|
<buildtool_depend>xacro</buildtool_depend>
|
||||||
|
|
||||||
<!-- Build dependencies -->
|
<!-- Runtime dependencies -->
|
||||||
<depend>gazebo_ros_pkgs</depend>
|
<!-- Gazebo (gz-sim Harmonic) integration for ROS 2 Jazzy -->
|
||||||
|
<exec_depend>ros_gz_sim</exec_depend>
|
||||||
|
<exec_depend>ros_gz_bridge</exec_depend>
|
||||||
|
<depend>gz_ros2_control</depend>
|
||||||
|
|
||||||
<depend>robot_state_publisher</depend>
|
<depend>robot_state_publisher</depend>
|
||||||
<depend>joint_state_publisher</depend>
|
<depend>joint_state_publisher</depend>
|
||||||
<depend>geometry_msgs</depend>
|
<depend>geometry_msgs</depend>
|
||||||
@@ -24,9 +28,8 @@
|
|||||||
<depend>ros2_control</depend>
|
<depend>ros2_control</depend>
|
||||||
<depend>controller_manager</depend>
|
<depend>controller_manager</depend>
|
||||||
<depend>joint_state_broadcaster</depend>
|
<depend>joint_state_broadcaster</depend>
|
||||||
<depend>diff_drive_controller</depend>
|
<depend>mecanum_drive_controller</depend>
|
||||||
<depend>teleop_twist_keyboard</depend>
|
<depend>teleop_twist_keyboard</depend>
|
||||||
<buildtool_depend>ament_cmake</buildtool_depend>
|
|
||||||
|
|
||||||
<test_depend>ament_lint_auto</test_depend>
|
<test_depend>ament_lint_auto</test_depend>
|
||||||
<test_depend>ament_lint_common</test_depend>
|
<test_depend>ament_lint_common</test_depend>
|
||||||
|
|||||||
@@ -1,123 +0,0 @@
|
|||||||
<?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>
|
|
||||||
@@ -85,8 +85,6 @@
|
|||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<!-- Include ros2_controller.xacro to define controllers -->
|
<!-- Include ros2_controller.xacro to define controllers -->
|
||||||
<xacro:include filename="$(find agv_pro_gazebo)/urdf/parts/gazebo_control_plugin.xacro"/>
|
|
||||||
<xacro:include filename="$(find agv_pro_gazebo)/urdf/ros2_controller.xacro"/>
|
<xacro:include filename="$(find agv_pro_gazebo)/urdf/ros2_controller.xacro"/>
|
||||||
<xacro:ros2_controller/>
|
<xacro:ros2_controller/>
|
||||||
<xacro:gazebo_control_plugin/>
|
|
||||||
</robot>
|
</robot>
|
||||||
|
|||||||
@@ -1,144 +0,0 @@
|
|||||||
<?xml version="1.0"?>
|
|
||||||
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
|
|
||||||
|
|
||||||
<xacro:property name="wheel_axis" value="0 1 0"/>
|
|
||||||
<xacro:property name="wheel_damping" value="0.1"/>
|
|
||||||
|
|
||||||
<!-- Macro: wheel with Gazebo plugin -->
|
|
||||||
<xacro:macro name="wheel" params="name mesh origin_xyz origin_rpy mass ixx ixy ixz iyy iyz izz">
|
|
||||||
<link name="${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>
|
|
||||||
@@ -51,7 +51,13 @@
|
|||||||
<mu2>0.8</mu2>
|
<mu2>0.8</mu2>
|
||||||
<kp>100000.0</kp>
|
<kp>100000.0</kp>
|
||||||
<kd>1.0</kd>
|
<kd>1.0</kd>
|
||||||
<material>Gazebo/Black</material>
|
<visual>
|
||||||
|
<material>
|
||||||
|
<ambient>0.1 0.1 0.1 1</ambient>
|
||||||
|
<diffuse>0.1 0.1 0.1 1</diffuse>
|
||||||
|
<specular>0.1 0.1 0.1 1</specular>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
</gazebo>
|
</gazebo>
|
||||||
|
|
||||||
</xacro:macro>
|
</xacro:macro>
|
||||||
|
|||||||
@@ -1,55 +1,42 @@
|
|||||||
<?xml version="1.0"?>
|
<?xml version="1.0"?>
|
||||||
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||||
<xacro:macro name="ros2_controller">
|
<xacro:macro name="ros2_controller">
|
||||||
<ros2_control name="FishBotGazeboSystem" type="system">
|
<!-- ros2_control hardware description for gz-sim (Gazebo Harmonic) -->
|
||||||
|
<ros2_control name="GazeboSimSystem" type="system">
|
||||||
<hardware>
|
<hardware>
|
||||||
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
|
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
|
||||||
</hardware>
|
</hardware>
|
||||||
|
|
||||||
<!-- 配置所有轮子的控制接口 -->
|
<joint name="left_front_wheel_joint">
|
||||||
<joint name="front_left_wheel_joint">
|
|
||||||
<command_interface name="position" />
|
|
||||||
<command_interface name="velocity"/>
|
<command_interface name="velocity"/>
|
||||||
<command_interface name="effort" />
|
|
||||||
<state_interface name="position"/>
|
<state_interface name="position"/>
|
||||||
<state_interface name="velocity"/>
|
<state_interface name="velocity"/>
|
||||||
<state_interface name="effort" />
|
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<joint name="front_right_wheel_joint">
|
<joint name="right_front_wheel_joint">
|
||||||
<command_interface name="position" />
|
|
||||||
<command_interface name="velocity"/>
|
<command_interface name="velocity"/>
|
||||||
<command_interface name="effort" />
|
|
||||||
<state_interface name="position"/>
|
<state_interface name="position"/>
|
||||||
<state_interface name="velocity"/>
|
<state_interface name="velocity"/>
|
||||||
<state_interface name="effort" />
|
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<joint name="rear_left_wheel_joint">
|
<joint name="left_rear_wheel_joint">
|
||||||
<command_interface name="position" />
|
|
||||||
<command_interface name="velocity"/>
|
<command_interface name="velocity"/>
|
||||||
<command_interface name="effort" />
|
|
||||||
<state_interface name="position"/>
|
<state_interface name="position"/>
|
||||||
<state_interface name="velocity"/>
|
<state_interface name="velocity"/>
|
||||||
<state_interface name="effort" />
|
|
||||||
</joint>
|
</joint>
|
||||||
|
|
||||||
<joint name="rear_right_wheel_joint">
|
<joint name="right_rear_wheel_joint">
|
||||||
<command_interface name="position" />
|
|
||||||
<command_interface name="velocity"/>
|
<command_interface name="velocity"/>
|
||||||
<command_interface name="effort" />
|
|
||||||
<state_interface name="position"/>
|
<state_interface name="position"/>
|
||||||
<state_interface name="velocity"/>
|
<state_interface name="velocity"/>
|
||||||
<state_interface name="effort" />
|
|
||||||
</joint>
|
</joint>
|
||||||
</ros2_control>
|
</ros2_control>
|
||||||
|
|
||||||
|
<!-- gz_ros2_control system plugin: hosts the controller_manager inside gz-sim -->
|
||||||
<gazebo>
|
<gazebo>
|
||||||
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
|
<plugin filename="gz_ros2_control-system"
|
||||||
|
name="gz_ros2_control::GazeboSimROS2ControlPlugin">
|
||||||
<parameters>$(find agv_pro_gazebo)/config/agv_control.yaml</parameters>
|
<parameters>$(find agv_pro_gazebo)/config/agv_control.yaml</parameters>
|
||||||
<ros>
|
|
||||||
<remapping>/omni_drive_controller/cmd_vel:=/cmd_vel</remapping>
|
|
||||||
<remapping>/omni_drive_controller/odom:=/odom</remapping>
|
|
||||||
</ros>
|
|
||||||
</plugin>
|
</plugin>
|
||||||
</gazebo>
|
</gazebo>
|
||||||
</xacro:macro>
|
</xacro:macro>
|
||||||
|
|||||||
@@ -1,11 +1,69 @@
|
|||||||
<?xml version="1.0" ?>
|
<?xml version="1.0" ?>
|
||||||
<sdf version="1.6">
|
<sdf version="1.10">
|
||||||
<world name="empty_world">
|
<world name="empty_world">
|
||||||
<include>
|
|
||||||
<uri>model://ground_plane</uri>
|
<!-- Required gz-sim (Gazebo Harmonic) system plugins -->
|
||||||
</include>
|
<plugin filename="gz-sim-physics-system"
|
||||||
<include>
|
name="gz::sim::systems::Physics">
|
||||||
<uri>model://sun</uri>
|
</plugin>
|
||||||
</include>
|
<plugin filename="gz-sim-user-commands-system"
|
||||||
|
name="gz::sim::systems::UserCommands">
|
||||||
|
</plugin>
|
||||||
|
<plugin filename="gz-sim-scene-broadcaster-system"
|
||||||
|
name="gz::sim::systems::SceneBroadcaster">
|
||||||
|
</plugin>
|
||||||
|
<plugin filename="gz-sim-sensors-system"
|
||||||
|
name="gz::sim::systems::Sensors">
|
||||||
|
<render_engine>ogre2</render_engine>
|
||||||
|
</plugin>
|
||||||
|
|
||||||
|
<physics name="1ms" type="ignored">
|
||||||
|
<max_step_size>0.001</max_step_size>
|
||||||
|
<real_time_factor>1.0</real_time_factor>
|
||||||
|
</physics>
|
||||||
|
|
||||||
|
<!-- Sun -->
|
||||||
|
<light type="directional" name="sun">
|
||||||
|
<cast_shadows>true</cast_shadows>
|
||||||
|
<pose>0 0 10 0 0 0</pose>
|
||||||
|
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||||
|
<specular>0.2 0.2 0.2 1</specular>
|
||||||
|
<attenuation>
|
||||||
|
<range>1000</range>
|
||||||
|
<constant>0.9</constant>
|
||||||
|
<linear>0.01</linear>
|
||||||
|
<quadratic>0.001</quadratic>
|
||||||
|
</attenuation>
|
||||||
|
<direction>-0.5 0.1 -0.9</direction>
|
||||||
|
</light>
|
||||||
|
|
||||||
|
<!-- Ground plane -->
|
||||||
|
<model name="ground_plane">
|
||||||
|
<static>true</static>
|
||||||
|
<link name="link">
|
||||||
|
<collision name="collision">
|
||||||
|
<geometry>
|
||||||
|
<plane>
|
||||||
|
<normal>0 0 1</normal>
|
||||||
|
<size>100 100</size>
|
||||||
|
</plane>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<visual name="visual">
|
||||||
|
<geometry>
|
||||||
|
<plane>
|
||||||
|
<normal>0 0 1</normal>
|
||||||
|
<size>100 100</size>
|
||||||
|
</plane>
|
||||||
|
</geometry>
|
||||||
|
<material>
|
||||||
|
<ambient>0.8 0.8 0.8 1</ambient>
|
||||||
|
<diffuse>0.8 0.8 0.8 1</diffuse>
|
||||||
|
<specular>0.8 0.8 0.8 1</specular>
|
||||||
|
</material>
|
||||||
|
</visual>
|
||||||
|
</link>
|
||||||
|
</model>
|
||||||
|
|
||||||
</world>
|
</world>
|
||||||
</sdf>
|
</sdf>
|
||||||
Reference in New Issue
Block a user