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Staging checkin for the simulation migration

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This commit is contained in:
Matt Spencer
2026-07-15 11:21:25 +00:00
parent 08bf9b81bc
commit 9d62ca663f
13 changed files with 266 additions and 477 deletions
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src/elephant_robotics/agv_pro_gazebo/CMakeLists.txt
+1 -1
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@@ -14,7 +14,7 @@ if(BUILD_TESTING)
ament_lint_auto_find_test_dependencies()
endif()
install(DIRECTORY meshes urdf launch rviz config
install(DIRECTORY meshes urdf launch rviz config worlds
DESTINATION share/${PROJECT_NAME}
)
src/elephant_robotics/agv_pro_gazebo/config/agv_control copy.yaml
-23
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@@ -1,23 +0,0 @@
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]
src/elephant_robotics/agv_pro_gazebo/config/agv_control.yaml
+26 -15
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@@ -4,25 +4,36 @@ controller_manager:
use_sim_time: true # 使用仿真时间
# 定义关节状态广播器
fishbot_joint_state_broadcaster:
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
# 定义麦克纳姆轮驱动控制器
mecanum_drive_controller:
type: mecanum_drive_controller/MecanumDriveController
# 四轮全向控制器配置
fishbot_omni_drive_controller:
# 麦克纳姆四轮驱动控制器配置
mecanum_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
reference_timeout: 0.5
# 命令关节 (velocity command interface)
front_left_wheel_command_joint_name: left_front_wheel_joint
front_right_wheel_command_joint_name: right_front_wheel_joint
rear_left_wheel_command_joint_name: left_rear_wheel_joint
rear_right_wheel_command_joint_name: right_rear_wheel_joint
kinematics:
base_frame_offset:
x: 0.0
y: 0.0
theta: 0.0
wheels_radius: 0.05 # 轮子半径
# lx + ly : 底盘中心到轮子在 X 与 Y 方向投影之和
sum_of_robot_center_projection_on_X_Y_axis: 0.35
base_frame_id: base_link
odom_frame_id: odom
enable_odom_tf: true
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]
src/elephant_robotics/agv_pro_gazebo/launch/agv_pro_gazebo.launch.py
+119 -39
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@@ -1,65 +1,145 @@
import os
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.actions import (
IncludeLaunchDescription,
DeclareLaunchArgument,
RegisterEventHandler,
TimerAction,
)
from launch.conditions import IfCondition
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import Command
from launch.substitutions import Command, LaunchConfiguration, PythonExpression
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_gazebo'
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')
pkg_gazebo = get_package_share_directory('agv_pro_gazebo')
pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
robot_description_content = ParameterValue(
Command(['xacro ', xacro_file]),
value_type=str
)
robot_description = {'robot_description': robot_description_content}
xacro_file = os.path.join(pkg_gazebo, 'urdf', 'agv_pro.xacro')
world_file = os.path.join(pkg_gazebo, 'worlds', 'empty.world')
rviz_config = os.path.join(pkg_gazebo, 'rviz', 'agvpro_display.rviz')
return LaunchDescription([
# Launch Gazebo
IncludeLaunchDescription(
use_sim_time = LaunchConfiguration('use_sim_time')
use_rviz = LaunchConfiguration('use_rviz')
headless = LaunchConfiguration('headless')
robot_description = {
'robot_description': ParameterValue(
Command(['xacro ', xacro_file]), value_type=str
),
'use_sim_time': use_sim_time,
}
# Start gz-sim (Gazebo Harmonic) with the world.
# '-s' (server only) is added when headless:=true.
gz_args = PythonExpression([
"'-r -v4 -s ' + ", repr(world_file),
" if '", headless, "' == 'true' ",
"else '-r -v4 ' + ", repr(world_file),
])
gz_sim = IncludeLaunchDescription(
PythonLaunchDescriptionSource(
os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')
),
launch_arguments={'world': world_file}.items()
os.path.join(pkg_ros_gz_sim, 'launch', 'gz_sim.launch.py')
),
launch_arguments={'gz_args': gz_args}.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(
# Publish the robot description (also consumed by gz_ros2_control)
robot_state_publisher = Node(
package='robot_state_publisher',
executable='robot_state_publisher',
name='robot_state_publisher',
output='screen',
parameters=[robot_description]
),
parameters=[robot_description],
)
Node(
package='joint_state_publisher',
executable='joint_state_publisher',
name='joint_state_publisher',
# Spawn the robot into gz-sim from the robot_description topic.
# Delayed so robot_state_publisher has latched /robot_description before the
# gz_ros2_control plugin (loaded on spawn) reads it — avoids a startup race
# where the in-sim controller_manager sees no <ros2_control> tag.
spawn_entity = Node(
package='ros_gz_sim',
executable='create',
arguments=['-topic', 'robot_description', '-name', 'agv_pro', '-z', '0.1'],
output='screen',
),
)
delayed_spawn = TimerAction(period=3.0, actions=[spawn_entity])
# Optional: RViz
Node(
# Bridge the simulation clock so ROS nodes get /clock
clock_bridge = Node(
package='ros_gz_bridge',
executable='parameter_bridge',
arguments=['/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'],
output='screen',
)
# Controllers (controller_manager runs inside the gz_ros2_control plugin)
joint_state_broadcaster_spawner = Node(
package='controller_manager',
executable='spawner',
arguments=[
'joint_state_broadcaster',
'--controller-manager', '/controller_manager',
],
output='screen',
)
mecanum_drive_controller_spawner = Node(
package='controller_manager',
executable='spawner',
arguments=[
'mecanum_drive_controller',
'--controller-manager', '/controller_manager',
],
output='screen',
)
rviz = Node(
package='rviz2',
executable='rviz2',
name='rviz2',
output='screen',
arguments=['-d', rviz_config],
parameters=[{'use_sim_time': use_sim_time}],
condition=IfCondition(use_rviz),
output='screen',
)
return LaunchDescription([
DeclareLaunchArgument(
'use_sim_time',
default_value='true',
description='Use the Gazebo simulation clock',
),
DeclareLaunchArgument(
'use_rviz',
default_value='true',
description='Launch RViz2',
),
DeclareLaunchArgument(
'headless',
default_value='false',
description='Run gz-sim without the GUI (server only)',
),
gz_sim,
robot_state_publisher,
clock_bridge,
delayed_spawn,
# Load controllers only after the robot has been spawned
RegisterEventHandler(
OnProcessExit(
target_action=spawn_entity,
on_exit=[joint_state_broadcaster_spawner],
)
),
RegisterEventHandler(
OnProcessExit(
target_action=joint_state_broadcaster_spawner,
on_exit=[mecanum_drive_controller_spawner],
)
),
rviz,
])
src/elephant_robotics/agv_pro_gazebo/launch/agv_pro_gazebo.launchcopy.py
-71
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@@ -1,71 +0,0 @@
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],
),
])
src/elephant_robotics/agv_pro_gazebo/launch/teleop_launch.py
+8 -1
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@@ -2,6 +2,7 @@ import os
from launch import LaunchDescription
from launch_ros.actions import Node
def generate_launch_description():
return LaunchDescription([
Node(
@@ -10,8 +11,14 @@ def generate_launch_description():
name='teleop_keyboard',
output='screen',
prefix='xterm -e', # 或 'gnome-terminal --' 替换为你的终端命令
# mecanum_drive_controller expects a stamped reference; teleop must
# publish geometry_msgs/TwistStamped with a fresh timestamp.
parameters=[{
'stamped': True,
'frame_id': 'base_link',
}],
remappings=[
('/cmd_vel', '/diff_drive_controller/cmd_vel_unstamped')
('/cmd_vel', '/mecanum_drive_controller/reference'),
]
)
])
src/elephant_robotics/agv_pro_gazebo/package.xml
+7 -4
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@@ -12,8 +12,12 @@
<buildtool_depend>ament_cmake</buildtool_depend>
<buildtool_depend>xacro</buildtool_depend>
<!-- Build dependencies -->
<depend>gazebo_ros_pkgs</depend>
<!-- Runtime dependencies -->
<!-- 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>joint_state_publisher</depend>
<depend>geometry_msgs</depend>
@@ -24,9 +28,8 @@
<depend>ros2_control</depend>
<depend>controller_manager</depend>
<depend>joint_state_broadcaster</depend>
<depend>diff_drive_controller</depend>
<depend>mecanum_drive_controller</depend>
<depend>teleop_twist_keyboard</depend>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
src/elephant_robotics/agv_pro_gazebo/urdf/agv_pro copy.xacro
-123
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@@ -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://$(find agv_pro_description)/meshes/laser_link.stl" />
</geometry>
</collision>
</link>
<joint name="lidar_joint" type="fixed">
<origin xyz="0.17891 0 0.20928" rpy="0 0 0" />
<parent link="base_link" />
<child link="laser_link" />
</joint>
<!-- ros2_control tag -->
<ros2_control name="AGVHardware" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="right_rear_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="right_front_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="left_front_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="left_rear_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
</robot>
src/elephant_robotics/agv_pro_gazebo/urdf/agv_pro.xacro
-2
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@@ -85,8 +85,6 @@
</joint>
<!-- Include ros2_controller.xacro to define controllers -->
<xacro:include filename="$(find agv_pro_gazebo)/urdf/parts/gazebo_control_plugin.xacro"/>
<xacro:include filename="$(find agv_pro_gazebo)/urdf/ros2_controller.xacro"/>
<xacro:ros2_controller/>
<xacro:gazebo_control_plugin/>
</robot>
src/elephant_robotics/agv_pro_gazebo/urdf/agv_pro1.xacro
-144
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@@ -1,144 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
<xacro:property name="wheel_axis" value="0 1 0"/>
<xacro:property name="wheel_damping" value="0.1"/>
<!-- Macro: wheel with Gazebo plugin -->
<xacro:macro name="wheel" params="name mesh origin_xyz origin_rpy mass ixx ixy ixz iyy iyz izz">
<link name="${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>
src/elephant_robotics/agv_pro_gazebo/urdf/parts/wheel_macro.xacro
+7 -1
View File
@@ -51,7 +51,13 @@
<mu2>0.8</mu2>
<kp>100000.0</kp>
<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>
</xacro:macro>
src/elephant_robotics/agv_pro_gazebo/urdf/ros2_controller.xacro
+23 -36
View File
@@ -1,55 +1,42 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<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>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
<plugin>gz_ros2_control/GazeboSimSystem</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 name="left_front_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</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 name="right_front_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</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 name="left_rear_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</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 name="right_rear_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
<!-- gz_ros2_control system plugin: hosts the controller_manager inside gz-sim -->
<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>
<ros>
<remapping>/omni_drive_controller/cmd_vel:=/cmd_vel</remapping>
<remapping>/omni_drive_controller/odom:=/odom</remapping>
</ros>
</plugin>
</gazebo>
</xacro:macro>
src/elephant_robotics/agv_pro_gazebo/worlds/empty.world
+65 -7
View File
@@ -1,11 +1,69 @@
<?xml version="1.0" ?>
<sdf version="1.6">
<sdf version="1.10">
<world name="empty_world">
<include>
<uri>model://ground_plane</uri>
</include>
<include>
<uri>model://sun</uri>
</include>
<!-- Required gz-sim (Gazebo Harmonic) system plugins -->
<plugin filename="gz-sim-physics-system"
name="gz::sim::systems::Physics">
</plugin>
<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>
</sdf>