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Moved to mechanum controller
Use a single URDF from the robot description
TODO: Wheel physics is not yet correct for mecanum movement.
This commit is contained in:
Matt Spencer
2026-07-16 09:28:07 +00:00
parent 9d62ca663f
commit ecdbe00d07
19 changed files with 435 additions and 773 deletions
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src/elephant_robotics/agv_pro_bringup/launch/agv_pro_bringup.launch.py
+8 -22
View File
@@ -36,7 +36,7 @@ def generate_launch_description():
urdf_file = os.path.join(
get_package_share_directory('agv_pro_description'),
'urdf',
'agv_pro.urdf'
'agv_pro.urdf.xacro'
)
# Pass both namespace and port_name into the xacro processor so that the
@@ -117,9 +117,12 @@ def generate_launch_description():
output='screen',
)
# mecanum_drive_controller subscribes to ~/reference (TwistStamped).
# --controller-ros-args remaps it to /cmd_vel so nav2 and teleop work
# without extra flags (teleop still needs stamped:=true).
# mecanum_drive_controller subscribes to ~/reference (TwistStamped). Remap it
# to the standard /cmd_vel so nav2 and teleop work without extra flags
# (teleop still needs stamped:=true).
# NOTE: the remap key MUST be the private name '~/reference' — a bare
# 'reference:=/cmd_vel' is silently ignored and the controller stays on
# /mecanum_drive_controller/reference.
# Delayed slightly so controller_manager is ready before spawning.
mecanum_drive_controller_spawner = TimerAction(
period=2.0,
@@ -130,29 +133,13 @@ def generate_launch_description():
arguments=[
'mecanum_drive_controller',
'--controller-manager', 'controller_manager',
'--controller-ros-args', '-r reference:=/cmd_vel',
'--controller-ros-args', '-r ~/reference:=/cmd_vel',
],
output='screen',
)
]
)
# Relay /cmd_vel (TwistStamped) → /mecanum_drive_controller/reference.
# This bridges the standard nav2/teleop topic to the controller's
# internal subscription, which ros2_control does not remap at load time.
# lazy:=false ensures the subscription exists before any publisher appears.
cmd_vel_relay = Node(
package='topic_tools',
executable='relay',
name='cmd_vel_relay',
parameters=[{
'input_topic': '/cmd_vel',
'output_topic': '/mecanum_drive_controller/reference',
'lazy': False,
}],
output='screen',
)
lidar_launchs = [
include_lidar('lslidar_driver', 'lsn10p_launch.py', enable_lidar, lidar_type, 'n10p'),
include_lidar('agv_pro_bringup', 'MID360_launch.py', enable_lidar, lidar_type, 'mid360'),
@@ -170,7 +157,6 @@ def generate_launch_description():
robot_state_pub,
joint_state_broadcaster_spawner,
mecanum_drive_controller_spawner,
cmd_vel_relay,
*lidar_launchs,
]
)
src/elephant_robotics/agv_pro_bringup/package.xml
-1
View File
@@ -12,7 +12,6 @@
<exec_depend>controller_manager</exec_depend>
<exec_depend>mecanum_drive_controller</exec_depend>
<exec_depend>joint_state_broadcaster</exec_depend>
<exec_depend>topic_tools</exec_depend>
<exec_depend>agv_pro_hardware</exec_depend>
<exec_depend>agv_pro_description</exec_depend>
<exec_depend>rviz2</exec_depend>
src/elephant_robotics/agv_pro_description/launch/agv_pro_display.launch.py
+1 -1
View File
@@ -20,7 +20,7 @@ def generate_launch_description():
urdf_file = os.path.join(
get_package_share_directory('agv_pro_description'),
'urdf',
'agv_pro.urdf'
'agv_pro.urdf.xacro'
)
robot_description_content = Command([
src/elephant_robotics/agv_pro_description/urdf/agv_pro.gazebo.xacro
+41
View File
@@ -0,0 +1,41 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!--
Gazebo (gz-sim Harmonic) specific tags. Only included when sim=true.
Provides wheel surface friction/material and loads the gz_ros2_control
system plugin that hosts the controller_manager inside gz-sim.
-->
<xacro:macro name="agv_pro_gazebo" params="namespace controllers_file">
<!-- Per-wheel surface friction + dark material -->
<xacro:macro name="wheel_gz" params="link">
<gazebo reference="${link}">
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<kp>100000.0</kp>
<kd>1.0</kd>
<visual>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0.1 0.1 0.1 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
</material>
</visual>
</gazebo>
</xacro:macro>
<xacro:wheel_gz link="${namespace}left_front_wheel_link"/>
<xacro:wheel_gz link="${namespace}right_front_wheel_link"/>
<xacro:wheel_gz link="${namespace}left_rear_wheel_link"/>
<xacro:wheel_gz link="${namespace}right_rear_wheel_link"/>
<!-- gz_ros2_control system plugin: hosts the controller_manager in gz-sim -->
<gazebo>
<plugin filename="gz_ros2_control-system"
name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>${controllers_file}</parameters>
</plugin>
</gazebo>
</xacro:macro>
</robot>
src/elephant_robotics/agv_pro_description/urdf/agv_pro.ros2_control.xacro
+59
View File
@@ -0,0 +1,59 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<!--
ros2_control block shared by the physical robot and the Gazebo simulation.
The only difference between the two is the <hardware> plugin:
sim=false -> agv_pro_hardware/AgvProHardwareInterface (real serial base)
sim=true -> gz_ros2_control/GazeboSimSystem (Gazebo Harmonic)
Joint-name note: the URDF joint origins show two wheels are physically at the
'wrong' position relative to their names (left_rear is physically front-right,
right_front is physically rear-left). The hardware plugin (real) and the
mecanum_drive_controller (both) resolve this via the front/rear/left/right
parameter mapping.
-->
<xacro:macro name="agv_pro_ros2_control" params="sim namespace port_name">
<ros2_control name="AgvProSystem" type="system">
<hardware>
<xacro:if value="${sim}">
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</xacro:if>
<xacro:unless value="${sim}">
<plugin>agv_pro_hardware/AgvProHardwareInterface</plugin>
<param name="port_name">${port_name}</param>
<param name="wheel_radius">0.072</param>
<param name="lx">0.172</param>
<param name="ly">0.180</param>
<!-- Physical wheel position -> URDF joint name mapping -->
<param name="front_left_joint">${namespace}left_front_wheel_joint</param>
<param name="front_right_joint">${namespace}left_rear_wheel_joint</param>
<param name="rear_left_joint">${namespace}right_front_wheel_joint</param>
<param name="rear_right_joint">${namespace}right_rear_wheel_joint</param>
</xacro:unless>
</hardware>
<joint name="${namespace}left_front_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${namespace}left_rear_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${namespace}right_front_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${namespace}right_rear_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
</xacro:macro>
</robot>
src/elephant_robotics/agv_pro_description/urdf/agv_pro.urdf → src/elephant_robotics/agv_pro_description/urdf/agv_pro.urdf.xacro
Executable → Regular
+20 -44
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@@ -1,10 +1,21 @@
<?xml version="1.0" encoding="utf-8"?>
<robot name="AGV pro" xmlns:xacro="http://www.ros.org/wiki/xacro">
<robot name="agv_pro" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- Optional namespace prefix for all link/joint names -->
<xacro:arg name="namespace" default=""/>
<xacro:property name="namespace" value="$(arg namespace)"/>
<!-- Hardware selection: false -> real serial base, true -> Gazebo (gz-sim) -->
<xacro:arg name="sim" default="false"/>
<xacro:property name="sim" value="$(arg sim)"/>
<!-- Real-hardware serial port (ignored when sim=true) -->
<xacro:arg name="port_name" default="/dev/agvpro_controller"/>
<xacro:property name="port_name" value="$(arg port_name)"/>
<!-- Controller params file consumed by gz_ros2_control (sim only) -->
<xacro:arg name="controllers_file" default=""/>
<xacro:property name="controllers_file" value="$(arg controllers_file)"/>
<link name="${namespace}base_footprint"/>
@@ -231,49 +242,14 @@
<child link="${namespace}imu_link" />
</joint>
<!-- ════════════════════════════════════════════════════════════════════════
ros2_control hardware interface for the real robot.
<!-- ros2_control: real hardware or gz_ros2_control depending on 'sim' -->
<xacro:include filename="$(find agv_pro_description)/urdf/agv_pro.ros2_control.xacro"/>
<xacro:agv_pro_ros2_control sim="${sim}" namespace="${namespace}" port_name="${port_name}"/>
Joint-name note: the URDF joint origins show that two wheels are
physically at the 'wrong' position relative to their names:
left_rear_wheel_joint is physically at front-right (+x, -y)
right_front_wheel_joint is physically at rear-left (-x, +y)
The hardware plugin and mecanum_drive_controller both use the
front_left/front_right/rear_left/rear_right params to resolve this.
════════════════════════════════════════════════════════════════════════ -->
<ros2_control name="AgvProHardwareInterface" type="system">
<hardware>
<plugin>agv_pro_hardware/AgvProHardwareInterface</plugin>
<param name="port_name">$(arg port_name)</param>
<param name="wheel_radius">0.072</param>
<param name="lx">0.172</param>
<param name="ly">0.180</param>
<!-- Physical wheel position → URDF joint name mapping -->
<param name="front_left_joint">${namespace}left_front_wheel_joint</param>
<param name="front_right_joint">${namespace}left_rear_wheel_joint</param>
<param name="rear_left_joint">${namespace}right_front_wheel_joint</param>
<param name="rear_right_joint">${namespace}right_rear_wheel_joint</param>
</hardware>
<joint name="${namespace}left_front_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${namespace}left_rear_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${namespace}right_front_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="${namespace}right_rear_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
<!-- Gazebo-only tags (friction, material, gz_ros2_control system plugin) -->
<xacro:if value="${sim}">
<xacro:include filename="$(find agv_pro_description)/urdf/agv_pro.gazebo.xacro"/>
<xacro:agv_pro_gazebo namespace="${namespace}" controllers_file="${controllers_file}"/>
</xacro:if>
</robot>
src/elephant_robotics/agv_pro_gazebo/CMakeLists.txt
+1 -2
View File
@@ -7,14 +7,13 @@ 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 worlds
install(DIRECTORY meshes launch rviz config worlds
DESTINATION share/${PROJECT_NAME}
)
src/elephant_robotics/agv_pro_gazebo/config/agv_control.yaml
+26 -19
View File
@@ -1,6 +1,6 @@
controller_manager:
ros__parameters:
update_rate: 100 # 控制器更新频率 (Hz)
update_rate: 50 # 控制器更新频率 (Hz) — matches the physical robot (ESP32 auto-report rate)
use_sim_time: true # 使用仿真时间
# 定义关节状态广播器
@@ -11,29 +11,36 @@ controller_manager:
mecanum_drive_controller:
type: mecanum_drive_controller/MecanumDriveController
# 麦克纳姆四轮驱动控制器配置
# ─────────────────────────────────────────────────────────────────────────────
# Mecanum drive controller — kept IN SYNC with the physical robot config at
# agv_pro_bringup/config/ros2_controllers.yaml. Only the hardware plugin differs
# (gz_ros2_control/GazeboSimSystem here vs agv_pro_hardware/AgvProHardwareInterface
# on the real robot); the controller parameters are identical.
#
# NOTE: The URDF joint names do not match the physical wheel positions due to a
# naming inconsistency in the shared robot model. The controller compensates via
# the front/rear/left/right command-joint mapping below:
#
# Physical position │ URDF joint name
# ──────────────────┼────────────────────────────
# front-left (FL) │ left_front_wheel_joint ✓
# front-right (FR) │ left_rear_wheel_joint ← physically front-right
# rear-left (RL) │ right_front_wheel_joint ← physically rear-left
# rear-right (RR) │ right_rear_wheel_joint ✓
# ─────────────────────────────────────────────────────────────────────────────
mecanum_drive_controller:
ros__parameters:
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
front_right_wheel_command_joint_name: left_rear_wheel_joint
rear_left_wheel_command_joint_name: right_front_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
base_frame_id: base_footprint
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]
kinematics:
wheels_radius: 0.072 # 轮子半径 (wheel centre height above ground)
# sum_of_robot_center_projection_on_X_Y_axis = lx + ly (0.172 + 0.180)
sum_of_robot_center_projection_on_X_Y_axis: 0.352
src/elephant_robotics/agv_pro_gazebo/launch/agv_pro.launch.py
-40
View File
@@ -1,40 +0,0 @@
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_gazebo'))
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
])
src/elephant_robotics/agv_pro_gazebo/launch/agv_pro_display.launch.py
-48
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@@ -1,48 +0,0 @@
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_gazebo'),
'rviz',
'agvpro_display.rviz')
urdf_file = os.path.join(
get_package_share_directory('agv_pro_gazebo'),
'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')
])
src/elephant_robotics/agv_pro_gazebo/launch/agv_pro_gazebo.launch.py
+36 -3
View File
@@ -4,12 +4,18 @@ from launch.actions import (
IncludeLaunchDescription,
DeclareLaunchArgument,
RegisterEventHandler,
SetEnvironmentVariable,
TimerAction,
)
from launch.conditions import IfCondition
from launch.event_handlers import OnProcessExit
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import Command, LaunchConfiguration, PythonExpression
from launch.substitutions import (
Command,
EnvironmentVariable,
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
@@ -17,9 +23,12 @@ from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
pkg_gazebo = get_package_share_directory('agv_pro_gazebo')
pkg_description = get_package_share_directory('agv_pro_description')
pkg_ros_gz_sim = get_package_share_directory('ros_gz_sim')
xacro_file = os.path.join(pkg_gazebo, 'urdf', 'agv_pro.xacro')
# Shared robot description (agv_pro_description) built for simulation.
xacro_file = os.path.join(pkg_description, 'urdf', 'agv_pro.urdf.xacro')
controllers_file = os.path.join(pkg_gazebo, 'config', 'agv_control.yaml')
world_file = os.path.join(pkg_gazebo, 'worlds', 'empty.world')
rviz_config = os.path.join(pkg_gazebo, 'rviz', 'agvpro_display.rviz')
@@ -29,11 +38,29 @@ def generate_launch_description():
robot_description = {
'robot_description': ParameterValue(
Command(['xacro ', xacro_file]), value_type=str
Command([
'xacro ', xacro_file,
' sim:=true',
' controllers_file:=', controllers_file,
]),
value_type=str,
),
'use_sim_time': use_sim_time,
}
# Let gz-sim resolve the package:// mesh URIs in the shared description.
# URDF->SDF conversion rewrites package://agv_pro_description/... to
# model://agv_pro_description/..., which gz finds by searching
# GZ_SIM_RESOURCE_PATH for a directory named 'agv_pro_description'.
gz_resource_path = SetEnvironmentVariable(
name='GZ_SIM_RESOURCE_PATH',
value=[
os.path.dirname(pkg_description),
':',
EnvironmentVariable('GZ_SIM_RESOURCE_PATH', default_value=''),
],
)
# Start gz-sim (Gazebo Harmonic) with the world.
# '-s' (server only) is added when headless:=true.
gz_args = PythonExpression([
@@ -88,12 +115,17 @@ def generate_launch_description():
output='screen',
)
# Remap the controller's reference topic (~/reference) to the standard
# /cmd_vel so teleop and nav2 (which publish geometry_msgs/TwistStamped)
# drive the robot directly. NOTE: the remap key must be the private name
# '~/reference' — a bare 'reference:=/cmd_vel' is silently ignored.
mecanum_drive_controller_spawner = Node(
package='controller_manager',
executable='spawner',
arguments=[
'mecanum_drive_controller',
'--controller-manager', '/controller_manager',
'--controller-ros-args', '-r ~/reference:=/cmd_vel',
],
output='screen',
)
@@ -124,6 +156,7 @@ def generate_launch_description():
default_value='false',
description='Run gz-sim without the GUI (server only)',
),
gz_resource_path,
gz_sim,
robot_state_publisher,
clock_bridge,
src/elephant_robotics/agv_pro_gazebo/launch/teleop_launch.py
+3 -3
View File
@@ -13,12 +13,12 @@ def generate_launch_description():
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.
# It publishes on the standard /cmd_vel topic, which the sim launch
# feeds to the controller (spawner remap + cmd_vel_relay), mirroring
# the physical robot.
parameters=[{
'stamped': True,
'frame_id': 'base_link',
}],
remappings=[
('/cmd_vel', '/mecanum_drive_controller/reference'),
]
)
])
src/elephant_robotics/agv_pro_gazebo/launch/test.launch.py
-35
View File
@@ -1,35 +0,0 @@
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'
)
])
src/elephant_robotics/agv_pro_gazebo/package.xml
+2
View File
@@ -13,6 +13,8 @@
<buildtool_depend>xacro</buildtool_depend>
<!-- Runtime dependencies -->
<!-- Shared robot description (single source of truth for sim + real) -->
<depend>agv_pro_description</depend>
<!-- Gazebo (gz-sim Harmonic) integration for ROS 2 Jazzy -->
<exec_depend>ros_gz_sim</exec_depend>
<exec_depend>ros_gz_bridge</exec_depend>
src/elephant_robotics/agv_pro_gazebo/urdf/agv_pro.xacro
-90
View File
@@ -1,90 +0,0 @@
<?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_gazebo)/meshes/base_link.stl" />
</geometry>
<material name=""/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find agv_pro_gazebo)/meshes/base_link.stl" />
</geometry>
</collision>
</link>
<!-- Include wheel macros & controller definitions -->
<xacro:include filename="$(find agv_pro_gazebo)/urdf/parts/wheel_macro.xacro"/>
<!-- Wheels definition -->
<!-- Right Rear Wheel -->
<xacro:wheel name="right_rear_wheel" mesh="file://$(find agv_pro_gazebo)/meshes/wheel_rb_link.stl" origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
<!-- Right Front Wheel -->
<xacro:wheel name="right_front_wheel" mesh="file://$(find agv_pro_gazebo)/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://$(find agv_pro_gazebo)/meshes/wheel_lf_link.stl" origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0" mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07" iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
<!-- Left Rear Wheel -->
<xacro:wheel name="left_rear_wheel" mesh="file://$(find agv_pro_gazebo)/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://$(find agv_pro_gazebo)/meshes/laser_link.stl" />
</geometry>
<material name=""/>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="file://$(find agv_pro_gazebo)/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="$(find agv_pro_gazebo)/urdf/ros2_controller.xacro"/>
<xacro:ros2_controller/>
</robot>
src/elephant_robotics/agv_pro_gazebo/urdf/minimal_robot.xacro
-91
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@@ -1,91 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
<!-- Gazebo-specific properties -->
<xacro:property name="wheel_damping" value="0.1"/>
<xacro:property name="wheel_axis" value="0 1 0"/>
<!-- Base footprint -->
<link name="base_footprint"/>
<joint name="base_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link" />
<origin xyz="0 0 0.020" rpy="0 0 0"/>
</joint>
<link name="base_link">
<inertial>
<origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
<mass value="19.236" />
<inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458" iyy="0.24191" iyz="0.0044629" izz="0.33755" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="model://agv_pro_description/meshes/base_link.stl" />
</geometry>
<material name="">
<color rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="model://agv_pro_description/meshes/base_link.stl" />
</geometry>
</collision>
</link>
<gazebo reference="base_link">
<material>Gazebo/White</material>
<mu1>1.0</mu1>
<mu2>1.0</mu2>
<kp>100000.0</kp>
<kd>1.0</kd>
</gazebo>
<!-- Include wheel macros & plugin -->
<xacro:include filename="$(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>
src/elephant_robotics/agv_pro_gazebo/urdf/parts/gazebo_control_plugin.xacro
-29
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@@ -1,29 +0,0 @@
<?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>
src/elephant_robotics/agv_pro_gazebo/urdf/parts/wheel_macro.xacro
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@@ -1,64 +0,0 @@
<?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="${name}_link">
<mu1>0.8</mu1>
<mu2>0.8</mu2>
<kp>100000.0</kp>
<kd>1.0</kd>
<visual>
<material>
<ambient>0.1 0.1 0.1 1</ambient>
<diffuse>0.1 0.1 0.1 1</diffuse>
<specular>0.1 0.1 0.1 1</specular>
</material>
</visual>
</gazebo>
</xacro:macro>
</robot>
src/elephant_robotics/agv_pro_gazebo/urdf/ros2_controller.xacro
-43
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@@ -1,43 +0,0 @@
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="ros2_controller">
<!-- ros2_control hardware description for gz-sim (Gazebo Harmonic) -->
<ros2_control name="GazeboSimSystem" type="system">
<hardware>
<plugin>gz_ros2_control/GazeboSimSystem</plugin>
</hardware>
<joint name="left_front_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="right_front_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="left_rear_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
<joint name="right_rear_wheel_joint">
<command_interface name="velocity"/>
<state_interface name="position"/>
<state_interface name="velocity"/>
</joint>
</ros2_control>
<!-- gz_ros2_control system plugin: hosts the controller_manager inside gz-sim -->
<gazebo>
<plugin filename="gz_ros2_control-system"
name="gz_ros2_control::GazeboSimROS2ControlPlugin">
<parameters>$(find agv_pro_gazebo)/config/agv_control.yaml</parameters>
</plugin>
</gazebo>
</xacro:macro>
</robot>