feat(teleop_twist_keyboard): add speed and turn limit parameters

agv_pro_base/include/agv_pro_base/agv_pro_driver.h

@@ -14,8 +14,6 @@
 #include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
 
 #define RECEIVE_DATA_SIZE 14         //The length of the data sent by the esp32
-#define SEND_DATA_SIZE    14         //The length of data sent by ROS to the esp32
-#define RETURN_COMMAND 0x25
 
 extern std::array<double, 36> odom_pose_covariance;
 extern std::array<double, 36> odom_twist_covariance;
@@ -27,11 +25,16 @@ public:
   ~AGV_PRO();
 private:
   void Control();
+  void print_hex(const std::string& label, const std::vector<uint8_t>& data, std::optional<size_t> override_size = std::nullopt);
+  void send_serial_frame(const std::vector<uint8_t>& frame, bool debug);
+  void is_power_on();
   void set_auto_report();
   bool readData();
   void publisherOdom(double dt);
   void publisherVoltage();
   void cmdCallback(const geometry_msgs::msg::Twist::SharedPtr msg);
+  std::vector<uint8_t> build_serial_frame(uint8_t cmd_id, const std::vector<uint8_t>& payload);
+  std::vector<uint8_t> read_serial_response(const std::vector<uint8_t>& expected_header, size_t payload_size, double timeout_sec);
 
   std::string frame_id_of_odometry_;
   std::string child_frame_id_of_odometry_;
@@ -51,6 +54,9 @@ private:
   double linearY = 0.0;
   double angularZ = 0.0;
 
+  int is_poweron_status = 0;
+  int poweron_status = 0;
+
   uint8_t motor_status = 0;
   uint8_t motor_error = 0;
   uint8_t enable_status = 0;

agv_pro_base/package.xml

@@ -2,7 +2,7 @@
 <?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
 <package format="3">
   <name>agv_pro_base</name>
-  <version>1.0.2</version>
+  <version>1.0.3</version>
   <description>Control Nodes for AGV Pro</description>
   <maintainer email="weijun.xie@elephantrobotics.com">lanni</maintainer>
   <license>BSD-3-Clause license</license>

agv_pro_base/src/agv_pro_ros.cpp

@@ -30,37 +30,167 @@ uint16_t crc16_ibm(const uint8_t* data, size_t length) {
   return crc;
 }
 
-void AGV_PRO::set_auto_report(){
+std::vector<uint8_t> AGV_PRO::build_serial_frame(uint8_t cmd_id, const std::vector<uint8_t>& payload)
+{
+  std::vector<uint8_t> frame(RECEIVE_DATA_SIZE, 0x00);
+  frame[0] = 0xFE;
+  frame[1] = 0xFE;
+  frame[2] = 0x0B;
+  frame[3] = cmd_id;
 
-  std::array<uint8_t, 14> buf = {
+  for (size_t i = 0; i < payload.size() && i < 8; ++i) {
-    0xFE, 0xFE, 0x0b, 0x23,
+    frame[4 + i] = payload[i];
-    0x01, 0x00, 0x00, 0x00,
+  }
-    0x00, 0x00, 0x00, 0x00
-  };
 
-  uint16_t crc = crc16_ibm(buf.data(), 12);
+  uint16_t crc = crc16_ibm(frame.data(), 12);
-  buf[12] = (crc >> 8) & 0xff;
+  frame[12] = (crc >> 8) & 0xff;
-  buf[13] = crc & 0xff;
+  frame[13] = crc & 0xff;
 
-  std::vector<uint8_t> data_vec(buf.begin(), buf.end());
+  return frame;
+}
 
-  auto port = serial_driver_->port();
+void AGV_PRO::print_hex(const std::string& label, const std::vector<uint8_t>& data, std::optional<size_t> override_size) {
+  std::stringstream ss;
+  for (auto b : data) {
+    ss << std::hex << std::uppercase << std::setfill('0') << std::setw(2)
+       << static_cast<int>(b) << " ";
+  }
+  size_t len = override_size.value_or(data.size());
+  RCLCPP_INFO(this->get_logger(), "%s (%zu bytes): [%s]", label.c_str(), len, ss.str().c_str());
+}
 
-  try
+void AGV_PRO::send_serial_frame(const std::vector<uint8_t>& frame, bool debug)
-  {
+{
-    size_t bytes_transmit_size = port->send(data_vec);
+  try {
-    std::stringstream ss;
+    auto port = serial_driver_->port();
-    for (auto b : data_vec) {
+    size_t bytes_transmit_size = port->send(frame);
-      ss << std::hex << std::uppercase << std::setfill('0') << std::setw(2)
+    if (debug) {
-         << static_cast<int>(b) << " ";
+      print_hex("Sent", frame, bytes_transmit_size);
     }
-    RCLCPP_INFO(this->get_logger(), "Sent %ld bytes: [%s]", bytes_transmit_size, ss.str().c_str());
+  } catch (const std::exception &ex) {
+    RCLCPP_ERROR(this->get_logger(), "Error Transmiting from serial port: %s", ex.what());
   }
-  catch(const std::exception &ex)
+}
-  {
+
-    RCLCPP_ERROR(this->get_logger(), "Error Transmiting from serial port:%s",ex.what());
+std::vector<uint8_t> AGV_PRO::read_serial_response(const std::vector<uint8_t>& expected_header, size_t payload_size, double timeout_sec)
+{
+  auto port = serial_driver_->port();
+  std::vector<uint8_t> sliding_buf;
+  uint8_t byte = 0;
+
+  rclcpp::Time start_time = this->now();
+  rclcpp::Duration timeout = rclcpp::Duration::from_seconds(timeout_sec);
+
+  while ((this->now() - start_time) < timeout) {
+    std::vector<uint8_t> temp_buf(1);
+    if (port->receive(temp_buf) == 1) {
+      byte = temp_buf[0];
+      sliding_buf.push_back(byte);
+
+      if (sliding_buf.size() > expected_header.size()) {
+        sliding_buf.erase(sliding_buf.begin());
+      }
+
+      if (sliding_buf == expected_header) {
+        break;
+      }
+    }
   }
 
+  if (sliding_buf != expected_header) {
+    RCLCPP_WARN(this->get_logger(), "Timeout waiting for header");
+    return {};
+  }
+
+  size_t remain_len = payload_size + 2;
+  std::vector<uint8_t> remain_buf(remain_len);
+  if (port->receive(remain_buf) != remain_len) {
+    RCLCPP_WARN(this->get_logger(), "Timeout or incomplete data payload");
+    return {};
+  }
+
+  std::vector<uint8_t> full_buf = expected_header;
+  full_buf.insert(full_buf.end(), remain_buf.begin(), remain_buf.end());
+
+  return full_buf;
+}
+
+void AGV_PRO::is_power_on(){
+  auto power_query_frame = build_serial_frame(0x12, {});
+  send_serial_frame(power_query_frame,true);
+
+  const std::vector<uint8_t> expected_header = {0xFE, 0xFE, 0x0B, 0x12};
+  auto power_query_response = read_serial_response(expected_header, 8, 1.0);
+
+  print_hex("recv_buf", power_query_response);
+  
+  if (power_query_response.size() != 14) return;
+
+  uint16_t received_crc = (power_query_response[12] << 8) | power_query_response[13];
+  uint16_t computed_crc = crc16_ibm(power_query_response.data(), 12);
+  if (received_crc != computed_crc) {
+    RCLCPP_WARN(this->get_logger(), "CRC mismatch: received=0x%04X, expected=0x%04X", received_crc, computed_crc);
+    return;
+  }
+
+  int is_poweron_status = static_cast<int8_t>(power_query_response[4]);
+  RCLCPP_INFO(this->get_logger(), "is_poweron_status: %d", is_poweron_status);
+
+  if (is_poweron_status == 0){
+    auto status_query_frame = build_serial_frame(0x10, {});
+    send_serial_frame(status_query_frame,true);
+
+    rclcpp::sleep_for(std::chrono::milliseconds(1000));// Sleep for 1000 milliseconds to allow the device enough time to process the previous command
+
+    const std::vector<uint8_t> expected_header = {0xFE, 0xFE, 0x0B, 0x10};
+    auto status_query_response = read_serial_response(expected_header, 8, 5.0);// Read the serial response with the specified expected header, payload size, and timeout of 5 seconds
+    print_hex("recv_buf", status_query_response);
+  
+    if (status_query_response.size() != 14) return;
+
+    uint16_t received_crc = (status_query_response[12] << 8) | status_query_response[13];
+    uint16_t computed_crc = crc16_ibm(status_query_response.data(), 12);
+    if (received_crc != computed_crc) {
+      RCLCPP_WARN(this->get_logger(), "CRC mismatch: received=0x%04X, expected=0x%04X", received_crc, computed_crc);
+      return;
+    }
+
+    int poweron_status = static_cast<int8_t>(status_query_response[4]);
+    std::string status_msg;
+
+    switch (poweron_status) {
+      case 1:
+        status_msg = "Motor is operating normally.";
+        RCLCPP_INFO(this->get_logger(), "power_status: %d, %s", poweron_status, status_msg.c_str());
+        break;
+      case 2:
+        status_msg = "Emergency stop button is not released.";
+        RCLCPP_ERROR(this->get_logger(), "power_status: %d, %s", poweron_status, status_msg.c_str());
+        break;
+      case 3:
+        status_msg = "Battery voltage is below 19.5V.";
+        RCLCPP_ERROR(this->get_logger(), "power_status: %d, %s", poweron_status, status_msg.c_str());
+        break;
+      case 4:
+        status_msg = "CAN initialization error.";
+        RCLCPP_ERROR(this->get_logger(), "power_status: %d, %s", poweron_status, status_msg.c_str());
+        break;
+      case 5:
+        status_msg = "Motor initialization error.";
+        RCLCPP_ERROR(this->get_logger(), "power_status: %d, %s", poweron_status, status_msg.c_str());
+        break;
+      default:
+        RCLCPP_WARN(this->get_logger(), "power_status: %d, Unknown power status code", poweron_status);
+        break;
+    }
+  }
+  else
+    RCLCPP_INFO(this->get_logger(), "Motor is operating normally.");
+}
+
+void AGV_PRO::set_auto_report(){
+  auto frame = build_serial_frame(0x23, {0x01});
+  send_serial_frame(frame,true);
 }
 
 void AGV_PRO::cmdCallback(const geometry_msgs::msg::Twist::SharedPtr msg)
@@ -95,17 +225,7 @@ void AGV_PRO::cmdCallback(const geometry_msgs::msg::Twist::SharedPtr msg)
   try
   {
     port->send(data_vec);
-
+    // print_hex("Sent", data_vec);//debug
-    //debug************************************
-    // size_t bytes_transmit_size = port->send(data_vec);
-    // std::stringstream ss;
-    // for (auto b : data_vec) {
-    //   ss << std::hex << std::uppercase << std::setfill('0') << std::setw(2)
-    //      << static_cast<int>(b) << " ";
-    // }
-    // RCLCPP_INFO(this->get_logger(), "Sent %ld bytes: [%s]", bytes_transmit_size, ss.str().c_str());
-    //debug************************************
-
   }
   catch(const std::exception &ex)
   {
@@ -154,14 +274,7 @@ bool AGV_PRO::readData()
   recv_buf.push_back(0x0B);
   recv_buf.insert(recv_buf.end(), data_buf.begin(), data_buf.end());
   
-  //debug************************************
+  // print_hex("recv_buf", recv_buf); //debug
-  // std::stringstream ss;
-  // for (const auto& byte : recv_buf) {
-  //     ss << std::hex << std::uppercase << std::setw(2) << std::setfill('0')
-  //       << static_cast<int>(byte) << " ";
-  // }
-  // RCLCPP_INFO(this->get_logger(), "recv_buf: [%s]", ss.str().c_str());
-  //debug************************************
 
   if (recv_buf[3] != 0x25) {
     // RCLCPP_WARN(this->get_logger(), "Command error:0x%02X", recv_buf[2]);
@@ -305,6 +418,7 @@ AGV_PRO::AGV_PRO(std::string node_name):rclcpp::Node(node_name)
     RCLCPP_INFO(this->get_logger(), "Using device: %s", serial_driver_->port().get()->device_name().c_str());
     RCLCPP_INFO(this->get_logger(), "Baud_rate: %d", config.get_baud_rate());
 
+    AGV_PRO::is_power_on();
     AGV_PRO::set_auto_report();
   }
   catch (const std::exception &ex){
@@ -316,6 +430,7 @@ AGV_PRO::AGV_PRO(std::string node_name):rclcpp::Node(node_name)
   std::chrono::milliseconds(20),
   std::bind(&AGV_PRO::Control, this)
   );
+  RCLCPP_INFO(this->get_logger(), "Control timer started");
 
 }
 

agv_pro_gazebo/CMakeLists.txt

@@ -0,0 +1,21 @@
+cmake_minimum_required(VERSION 3.8)
+project(agv_pro_gazebo)
+
+if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
+  add_compile_options(-Wall -Wextra -Wpedantic)
+endif()
+
+# find dependencies
+find_package(ament_cmake REQUIRED)
+find_package(urdf REQUIRED)
+
+if(BUILD_TESTING)
+  find_package(ament_lint_auto REQUIRED)
+  ament_lint_auto_find_test_dependencies()
+endif()
+
+install(DIRECTORY meshes urdf launch rviz config
+  DESTINATION share/${PROJECT_NAME}
+)
+
+ament_package()

agv_pro_gazebo/README.md

@@ -0,0 +1,72 @@
+# AGV_Pro
+ROS2 packages for AGV_Pro
+
+> Software environment for Jetson Orin Nano
+
+```
+ubuntu 22.04
+ros2 humble
+gazebo 11
+```
+
+# Installation
+
+Create workspace and clone the repository.
+
+```
+git clone https://github.com/elephantrobotics/agv_pro_ros2.git agv_pro_ros2/src
+```
+
+Install dependencies
+
+```
+cd ~/agv_pro_ros2
+
+rosdep install --from-paths src --ignore-src -r -y
+```
+
+Build workspace
+
+```
+cd ~/agv_pro_ros2
+
+colcon build
+```
+
+Setup the workspace
+
+```
+source ~/agv_pro_ros2/install/local_setup.bash
+```
+
+```
+apt install ros-$ROS_DISTRO-gazebo-ros-pkgs
+
+sudo apt install ros-$ROS_DISTRO-ros2-controllers
+
+sudo apt install ros-humble-teleop-twist-keyboard
+```
+
+# Update to new version
+
+```
+cd ~/myagv_ros2/src
+
+git pull
+
+cd ..
+
+colcon build
+```
+
+# Start
+
+```
+ros2 launch agv_pro_description agv_pro_gazebo.launch.py
+```
+
+# keyboard Control
+
+```
+ros2 run teleop_twist_keyboard teleop_twist_keyboard
+```

agv_pro_gazebo/config/agv_control copy.yaml

@@ -0,0 +1,23 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    diff_drive_controller:
+      type: diff_drive_controller/DiffDriveController
+      left_wheel_names: ["left_front_wheel_joint", "left_rear_wheel_joint"]
+      right_wheel_names: ["right_front_wheel_joint", "right_rear_wheel_joint"]
+
+      wheel_separation: 0.36
+      wheel_radius: 0.05
+
+      base_frame_id: base_link
+      use_stamped_vel: false
+      publish_rate: 50
+
+      enable_odom_tf: true
+      odom_frame_id: odom
+      pose_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
+      twist_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]

agv_pro_gazebo/config/agv_control.yaml

@@ -0,0 +1,28 @@
+controller_manager:
+  ros__parameters:
+    update_rate: 100  # 控制器更新频率 (Hz)
+    use_sim_time: true  # 使用仿真时间
+
+    # 定义关节状态广播器
+    fishbot_joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+      use_sim_time: true
+
+    # 定义全向驱动控制器
+    fishbot_omni_drive_controller:
+      type: omni_drive_controller/OmniDriveController
+
+# 四轮全向控制器配置
+fishbot_omni_drive_controller:
+  ros__parameters:
+    front_left_wheel_joint: front_left_wheel_joint
+    front_right_wheel_joint: front_right_wheel_joint
+    rear_left_wheel_joint: rear_left_wheel_joint
+    rear_right_wheel_joint: rear_right_wheel_joint
+    wheel_separation: 0.36  # 轮距
+    wheel_diameter: 0.1  # 轮子直径
+    publish_rate: 50.0  # 发布频率
+    odom_frame_id: odom
+    base_frame_id: base_link
+    pose_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]
+    twist_covariance_diagonal: [0.001, 0.001, 99999.0, 99999.0, 99999.0, 0.03]

agv_pro_gazebo/launch/agv_pro.launch.py

@@ -0,0 +1,40 @@
+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
+    ])

agv_pro_gazebo/launch/agv_pro_display.launch.py

@@ -0,0 +1,48 @@
+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')
+
+    ])

agv_pro_gazebo/launch/agv_pro_gazebo.launch.py

@@ -0,0 +1,65 @@
+import os
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import Command
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    pkg_name = 'agv_pro_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')
+
+    robot_description_content = ParameterValue(
+        Command(['xacro ', xacro_file]),
+        value_type=str
+    )
+    robot_description = {'robot_description': robot_description_content}
+
+    return LaunchDescription([
+        # Launch Gazebo
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')
+            ),
+            launch_arguments={'world': world_file}.items()
+        ),
+
+        # Spawn robot into Gazebo
+        Node(
+            package='gazebo_ros',
+            executable='spawn_entity.py',
+            arguments=['-topic', 'robot_description',
+                       '-entity', 'agv_pro'],
+            output='screen'
+        ),
+
+        # State publisher
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            parameters=[robot_description]
+        ),
+
+        Node(
+            package='joint_state_publisher',
+            executable='joint_state_publisher',
+            name='joint_state_publisher',
+            output='screen',
+        ),
+
+        # Optional: RViz
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            output='screen',
+            arguments=['-d', rviz_config],
+        ),
+    ])

agv_pro_gazebo/launch/agv_pro_gazebo.launchcopy.py

@@ -0,0 +1,71 @@
+import os
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, ExecuteProcess
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    pkg_name = 'agv_pro_description'
+
+    # Paths
+    pkg_dir = get_package_share_directory(pkg_name)
+    xacro_file = os.path.join(pkg_dir, 'urdf', 'agv_pro.xacro')
+    world_file = os.path.join(pkg_dir, 'worlds', 'empty.world')  # 创建一个空 world 即可
+    rviz_config = os.path.join(pkg_dir, 'rviz', 'agvpro_display.rviz')
+
+    robot_description_content = Command(['xacro ', xacro_file])
+    robot_description = {'robot_description': robot_description_content}
+
+    return LaunchDescription([
+
+        # Start Gazebo with empty world
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                [os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]
+            ),
+            launch_arguments={'world': world_file}.items()
+        ),
+
+        # Spawn robot into Gazebo
+        Node(
+            package='gazebo_ros',
+            executable='spawn_entity.py',
+            arguments=['-topic', 'robot_description',
+                       '-entity', 'agv_pro'],
+            output='screen'
+        ),
+
+        # Robot state publisher
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            parameters=[robot_description]
+        ),
+
+        # Optionally publish joint states if not using controllers
+        Node(
+            package='joint_state_publisher',
+            executable='joint_state_publisher',
+            name='joint_state_publisher',
+            output='screen',
+        ),
+        Node(
+            package='controller_manager',
+            executable='spawner',
+            arguments=['joint_state_broadcaster'],
+            output='screen',
+        ),
+
+        # RViz (optional, visualize TF & model)
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            output='screen',
+            arguments=['-d', rviz_config],
+        ),
+    ]) 

agv_pro_gazebo/launch/teleop_launch.py

@@ -0,0 +1,17 @@
+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='teleop_twist_keyboard',
+            executable='teleop_twist_keyboard',
+            name='teleop_keyboard',
+            output='screen',
+            prefix='xterm -e',  # 或 'gnome-terminal --' 替换为你的终端命令
+            remappings=[
+                ('/cmd_vel', '/diff_drive_controller/cmd_vel_unstamped')
+            ]
+        )
+    ])

agv_pro_gazebo/launch/test.launch.py

@@ -0,0 +1,35 @@
+import os
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+from launch.substitutions import Command
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    pkg_dir = get_package_share_directory('agv_pro_description')
+    xacro_file = os.path.join(pkg_dir, 'urdf', 'minimal_robot.xacro')
+    world_file = os.path.join(pkg_dir, 'worlds', 'empty.world')
+
+    robot_description = {'robot_description': Command(['xacro ', xacro_file])}
+
+    return LaunchDescription([
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')
+            ),
+            launch_arguments={'world': world_file}.items()
+        ),
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            parameters=[robot_description],
+            output='screen'
+        ),
+        Node(
+            package='gazebo_ros',
+            executable='spawn_entity.py',
+            arguments=['-topic', 'robot_description', '-entity', 'minimal_bot'],
+            output='screen'
+        )
+    ])

agv_pro_gazebo/package.xml

@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
+<package format="3">
+  <name>agv_pro_gazebo</name>
+  <version>1.0.0</version>
+  <description>
+    <p>URDF Description package for AGV pro</p>
+  </description>
+  <maintainer email="weijun.xie@elephantrobotics.com">weijun.xie</maintainer>
+  <license>BSD-3-Clause license</license>
+  <!-- Build tool -->
+  <buildtool_depend>ament_cmake</buildtool_depend>
+  <buildtool_depend>xacro</buildtool_depend>
+  
+  <!-- Build dependencies -->
+  <depend>gazebo_ros_pkgs</depend>
+  <depend>robot_state_publisher</depend>
+  <depend>joint_state_publisher</depend>
+  <depend>geometry_msgs</depend>
+  <depend>nav_msgs</depend>
+  <depend>sensor_msgs</depend>
+  <depend>rclcpp</depend>
+  <depend>tf2</depend>
+  <depend>ros2_control</depend>
+  <depend>controller_manager</depend>
+  <depend>joint_state_broadcaster</depend>
+  <depend>diff_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>
+  <export>
+    <build_type>ament_cmake</build_type>
+  </export>
+</package>

agv_pro_gazebo/rviz/agvpro_display.rviz

@@ -0,0 +1,234 @@
+Panels:
+  - Class: rviz_common/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /RobotModel1
+        - /TF1
+      Splitter Ratio: 0.5
+    Tree Height: 549
+  - Class: rviz_common/Selection
+    Name: Selection
+  - Class: rviz_common/Tool Properties
+    Expanded:
+      - /2D Goal Pose1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz_common/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz_common/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz_default_plugins/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz_default_plugins/RobotModel
+      Collision Enabled: false
+      Description File: ""
+      Description Source: Topic
+      Description Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /robot_description
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_front_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        left_rear_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_front_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        right_rear_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Mass Properties:
+        Inertia: false
+        Mass: false
+      Name: RobotModel
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz_default_plugins/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+        base_footprint:
+          Value: true
+        base_link:
+          Value: true
+        laser_link:
+          Value: true
+        left_front_wheel_link:
+          Value: true
+        left_rear_wheel_link:
+          Value: true
+        right_front_wheel_link:
+          Value: true
+        right_rear_wheel_link:
+          Value: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: false
+      Tree:
+        base_footprint:
+          base_link:
+            laser_link:
+              {}
+            left_front_wheel_link:
+              {}
+            left_rear_wheel_link:
+              {}
+            right_front_wheel_link:
+              {}
+            right_rear_wheel_link:
+              {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: base_footprint
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz_default_plugins/Interact
+      Hide Inactive Objects: true
+    - Class: rviz_default_plugins/MoveCamera
+    - Class: rviz_default_plugins/Select
+    - Class: rviz_default_plugins/FocusCamera
+    - Class: rviz_default_plugins/Measure
+      Line color: 128; 128; 0
+    - Class: rviz_default_plugins/SetInitialPose
+      Covariance x: 0.25
+      Covariance y: 0.25
+      Covariance yaw: 0.06853891909122467
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /initialpose
+    - Class: rviz_default_plugins/SetGoal
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /goal_pose
+    - Class: rviz_default_plugins/PublishPoint
+      Single click: true
+      Topic:
+        Depth: 5
+        Durability Policy: Volatile
+        History Policy: Keep Last
+        Reliability Policy: Reliable
+        Value: /clicked_point
+  Transformation:
+    Current:
+      Class: rviz_default_plugins/TF
+  Value: true
+  Views:
+    Current:
+      Class: rviz_default_plugins/Orbit
+      Distance: 1.6701574325561523
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.785398006439209
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398006439209
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 846
+  Hide Left Dock: false
+  Hide Right Dock: true
+  QMainWindow State: 000000ff00000000fd000000040000000000000156000002b0fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000002b0000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002b0fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d000002b0000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002fb00fffffffb0000000800540069006d0065010000000000000450000000000000000000000354000002b000000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1200
+  X: 720
+  Y: 343

agv_pro_gazebo/urdf/agv_pro copy.xacro

@@ -0,0 +1,123 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
+
+  <!-- Gazebo-specific properties -->
+  <xacro:property name="wheel_damping" value="0.1"/>
+  <xacro:property name="wheel_axis" value="0 1 0"/>
+
+  <!-- Base footprint -->
+  <link name="base_footprint"/>
+
+  <joint name="base_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link" />
+    <origin xyz="0 0 0.020" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_link">
+    <inertial>
+      <origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
+      <mass value="19.236" />
+      <inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458" iyy="0.24191" iyz="0.0044629" izz="0.33755" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="file://$(find agv_pro_description)/meshes/base_link.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="file://$(find agv_pro_description)/meshes/base_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Gazebo plugin for control -->
+  <gazebo>
+    <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so"/>
+  </gazebo>
+
+  <gazebo reference="base_link">
+    <material>Gazebo/White</material>
+    <mu1>1.0</mu1>
+    <mu2>1.0</mu2>
+    <kp>100000.0</kp>
+    <kd>1.0</kd>
+  </gazebo>
+
+  <!-- Include wheel macros -->
+  <xacro:include filename="$(find agv_pro_description)/urdf/parts/wheel_macro.xacro"/>
+  <xacro:include filename="$(find agv_pro_description)/urdf/parts/gazebo_control_plugin.xacro"/>
+  <!-- Add all four wheels using macro -->
+  <xacro:wheel name="right_rear_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_rb_link.stl" origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
+
+  <xacro:wheel name="right_front_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_rf_link.stl" origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
+
+  <xacro:wheel name="left_front_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_lf_link.stl" origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0" mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07" iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
+
+  <xacro:wheel name="left_rear_wheel" mesh="file://$(find agv_pro_description)/meshes/wheel_lb_link.stl" origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0" mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07" iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
+
+  <!-- Lidar -->
+  <link name="laser_link">
+    <inertial>
+      <origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0" />
+      <mass value="0.049095" />
+      <inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07" iyy="2.0483E-05" iyz="-4.2154E-09" izz="3.4612E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="file://$(find agv_pro_description)/meshes/laser_link.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="file://$(find agv_pro_description)/meshes/laser_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="lidar_joint" type="fixed">
+    <origin xyz="0.17891 0 0.20928" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="laser_link" />
+  </joint>
+
+  <!-- ros2_control tag -->
+  <ros2_control name="AGVHardware" type="system">
+    <hardware>
+      <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+    </hardware>
+
+    <joint name="right_rear_wheel_joint">
+      <command_interface name="velocity"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+    </joint>
+    <joint name="right_front_wheel_joint">
+      <command_interface name="velocity"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+    </joint>
+    <joint name="left_front_wheel_joint">
+      <command_interface name="velocity"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+    </joint>
+    <joint name="left_rear_wheel_joint">
+      <command_interface name="velocity"/>
+      <state_interface name="position"/>
+      <state_interface name="velocity"/>
+    </joint>
+  </ros2_control>
+
+</robot>

agv_pro_gazebo/urdf/agv_pro.xacro

@@ -0,0 +1,92 @@
+<?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/parts/gazebo_control_plugin.xacro"/>
+  <xacro:include filename="$(find agv_pro_gazebo)/urdf/ros2_controller.xacro"/>
+  <xacro:ros2_controller/>
+  <xacro:gazebo_control_plugin/>
+</robot>

agv_pro_gazebo/urdf/agv_pro1.xacro

@@ -0,0 +1,144 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
+
+  <xacro:property name="wheel_axis" value="0 1 0"/>
+  <xacro:property name="wheel_damping" value="0.1"/>
+
+  <!-- Macro: wheel with Gazebo plugin -->
+  <xacro:macro name="wheel" params="name mesh origin_xyz origin_rpy mass ixx ixy ixz iyy iyz izz">
+    <link name="${name}_link">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="${mass}" />
+        <inertia ixx="${ixx}" ixy="${ixy}" ixz="${ixz}" iyy="${iyy}" iyz="${iyz}" izz="${izz}" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="${mesh}" />
+        </geometry>
+        <material name=""><color rgba="1 1 1 1"/></material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0"/>
+        <geometry>
+          <mesh filename="${mesh}" />
+        </geometry>
+      </collision>
+    </link>
+    <joint name="${name}_joint" type="continuous">
+      <origin xyz="${origin_xyz}" rpy="${origin_rpy}"/>
+      <parent link="base_link"/>
+      <child link="${name}_link"/>
+      <axis xyz="${wheel_axis}"/>
+      <dynamics damping="${wheel_damping}"/>
+    </joint>
+
+    <transmission name="${name}_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <actuator name="${name}_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+      </actuator>
+      <joint name="${name}_joint">
+        <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+      </joint>
+    </transmission>
+
+    <gazebo reference="${name}_link">
+      <mu1>0.8</mu1>
+      <mu2>0.8</mu2>
+      <kp>100000.0</kp>
+      <kd>1.0</kd>
+      <material>Gazebo/Grey</material>
+    </gazebo>
+  </xacro:macro>
+
+  <!-- Base links -->
+  <link name="base_footprint"/>
+
+  <joint name="base_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+    <origin xyz="0 0 0.020" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_link">
+    <inertial>
+      <origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
+      <mass value="19.236" />
+      <inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458"
+               iyy="0.24191" iyz="0.0044629" izz="0.33755"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://agv_pro_description/meshes/base_link.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://agv_pro_description/meshes/base_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <!-- Gazebo plugin for ros2_control -->
+  <gazebo>
+    <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so"/>
+  </gazebo>
+
+  <!-- Wheels -->
+  <xacro:wheel name="right_rear_wheel"
+               mesh="package://agv_pro_description/meshes/wheel_rb_link.stl"
+               origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0"
+               mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07"
+               iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
+
+  <xacro:wheel name="right_front_wheel"
+               mesh="package://agv_pro_description/meshes/wheel_rf_link.stl"
+               origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0"
+               mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07"
+               iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
+
+  <xacro:wheel name="left_front_wheel"
+               mesh="package://agv_pro_description/meshes/wheel_lf_link.stl"
+               origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0"
+               mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07"
+               iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
+
+  <xacro:wheel name="left_rear_wheel"
+               mesh="package://agv_pro_description/meshes/wheel_lb_link.stl"
+               origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0"
+               mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07"
+               iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
+
+  <!-- Lidar -->
+  <link name="laser_link">
+    <inertial>
+      <origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0"/>
+      <mass value="0.049095"/>
+      <inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07"
+               iyy="2.0483E-05" iyz="-4.2154E-09" izz="3.4612E-05"/>
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://agv_pro_description/meshes/laser_link.stl"/>
+      </geometry>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0"/>
+      <geometry>
+        <mesh filename="package://agv_pro_description/meshes/laser_link.stl"/>
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="lidar_joint" type="fixed">
+    <origin xyz="0.17891 0 0.20928" rpy="0 0 0"/>
+    <parent link="base_link"/>
+    <child link="laser_link"/>
+  </joint>
+
+</robot>

agv_pro_gazebo/urdf/minimal_robot.xacro

@@ -0,0 +1,91 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro" name="agv_pro">
+
+  <!-- Gazebo-specific properties -->
+  <xacro:property name="wheel_damping" value="0.1"/>
+  <xacro:property name="wheel_axis" value="0 1 0"/>
+
+  <!-- Base footprint -->
+  <link name="base_footprint"/>
+
+  <joint name="base_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link" />
+    <origin xyz="0 0 0.020" rpy="0 0 0"/>
+  </joint>
+
+  <link name="base_link">
+    <inertial>
+      <origin xyz="-0.0076254 -0.00023134 0.06693" rpy="0 0 0" />
+      <mass value="19.236" />
+      <inertia ixx="0.14436" ixy="0.0012037" ixz="0.0019458" iyy="0.24191" iyz="0.0044629" izz="0.33755" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="model://agv_pro_description/meshes/base_link.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="model://agv_pro_description/meshes/base_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <gazebo reference="base_link">
+    <material>Gazebo/White</material>
+    <mu1>1.0</mu1>
+    <mu2>1.0</mu2>
+    <kp>100000.0</kp>
+    <kd>1.0</kd>
+  </gazebo>
+
+  <!-- Include wheel macros & plugin -->
+  <xacro:include filename="$(find agv_pro_description)/urdf/parts/wheel_macro.xacro"/>
+  <xacro:include filename="$(find agv_pro_description)/urdf/parts/gazebo_control_plugin.xacro"/>
+
+  <!-- All four wheels with corrected mesh paths -->
+  <xacro:wheel name="right_rear_wheel" mesh="model://agv_pro_description/meshes/wheel_rb_link.stl" origin_xyz="-0.1718 -0.1799 0.05188" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
+  <xacro:wheel name="right_front_wheel" mesh="model://agv_pro_description/meshes/wheel_rf_link.stl" origin_xyz="-0.17181 0.1799 0.051884" origin_rpy="0 0 0" mass="0.21659" ixx="0.00051181" ixy="2.1577E-08" ixz="2.538E-07" iyy="0.00097519" iyz="-2.3635E-07" izz="0.00051178"/>
+  <xacro:wheel name="left_front_wheel" mesh="model://agv_pro_description/meshes/wheel_lf_link.stl" origin_xyz="0.17128 0.1799 0.052" origin_rpy="0 0 0" mass="0.3015" ixx="0.00052475" ixy="-2.2533E-07" ixz="-4.1904E-07" iyy="0.00099948" iyz="7.5332E-08" izz="0.00052362"/>
+  <xacro:wheel name="left_rear_wheel" mesh="model://agv_pro_description/meshes/wheel_lb_link.stl" origin_xyz="0.17128 -0.1799 0.052" origin_rpy="0 0 0" mass="0.29613" ixx="0.00051227" ixy="-2.0628E-07" ixz="-4.9074E-07" iyy="0.0009752" iyz="1.173E-07" izz="0.00051131"/>
+
+  <!-- Lidar -->
+  <link name="laser_link">
+    <inertial>
+      <origin xyz="-0.0035142 -2.8248E-05 0.0010013" rpy="0 0 0" />
+      <mass value="0.049095" />
+      <inertia ixx="2.0572E-05" ixy="8.5013E-08" ixz="2.0871E-07" iyy="2.0483E-05" iyz="-4.2154E-09" izz="3.4612E-05" />
+    </inertial>
+    <visual>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="model://agv_pro_description/meshes/laser_link.stl" />
+      </geometry>
+      <material name="">
+        <color rgba="1 1 1 1" />
+      </material>
+    </visual>
+    <collision>
+      <origin xyz="0 0 0" rpy="0 0 0" />
+      <geometry>
+        <mesh filename="model://agv_pro_description/meshes/laser_link.stl" />
+      </geometry>
+    </collision>
+  </link>
+
+  <joint name="lidar_joint" type="fixed">
+    <origin xyz="0.17891 0 0.20928" rpy="0 0 0" />
+    <parent link="base_link" />
+    <child link="laser_link" />
+  </joint>
+
+  <!-- 插件调用 -->
+  <xacro:gazebo_control_plugin/>
+
+</robot>

agv_pro_gazebo/urdf/parts/gazebo_control_plugin.xacro

@@ -0,0 +1,29 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+  <xacro:macro name="gazebo_control_plugin">
+    <gazebo>
+      <!-- 使用全向控制插件 -->
+      <plugin filename="libgazebo_ros_planar_move.so" name="mecanum_drive_controller">
+        <ros>
+          <remapping>cmd_vel:=/cmd_vel</remapping>
+          <remapping>odom:=/odom</remapping>
+        </ros>
+
+        <!-- 配置全向控制 -->
+        <frontLeftJoint>front_left_wheel_joint</frontLeftJoint>    <!-- 前左轮 -->
+        <frontRightJoint>front_right_wheel_joint</frontRightJoint>  <!-- 前右轮 -->
+        <rearLeftJoint>rear_left_wheel_joint</rearLeftJoint>        <!-- 后左轮 -->
+        <rearRightJoint>rear_right_wheel_joint</rearRightJoint>     <!-- 后右轮 -->
+        <wheelDiameter>0.1</wheelDiameter>   <!-- 轮子直径 -->
+        <wheelSeparation>0.36</wheelSeparation>  <!-- 轮距（车辆宽度） -->
+
+        <torque>20</torque>  <!-- 轮子扭矩 -->
+        <topicName>cmd_vel</topicName>  <!-- 控制命令话题 -->
+        <odometryFrame>odom</odometryFrame>  <!-- 里程计坐标系 -->
+        <odometryTopic>odom</odometryTopic>  <!-- 里程计话题 -->
+        <robotBaseFrame>base_footprint</robotBaseFrame>  <!-- 机器人基础坐标系 -->
+        <publishOdomTF>true</publishOdomTF>  <!-- 发布里程计变换 -->
+      </plugin>
+    </gazebo>
+  </xacro:macro>
+</robot>

agv_pro_gazebo/urdf/parts/wheel_macro.xacro

@@ -0,0 +1,58 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://ros.org/wiki/xacro">
+
+  <xacro:macro name="wheel" params="name mesh origin_xyz origin_rpy mass ixx ixy ixz iyy iyz izz">
+
+    <link name="${name}_link">
+      <inertial>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <mass value="${mass}" />
+        <inertia ixx="${ixx}" ixy="${ixy}" ixz="${ixz}" iyy="${iyy}" iyz="${iyz}" izz="${izz}" />
+      </inertial>
+      <visual>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="${mesh}" />
+        </geometry>
+        <material name="gray">
+          <color rgba="0.3 0.3 0.3 1"/>
+        </material>
+      </visual>
+      <collision>
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <geometry>
+          <mesh filename="${mesh}" />
+        </geometry>
+      </collision>
+    </link>
+
+    <joint name="${name}_joint" type="continuous">
+      <origin xyz="${origin_xyz}" rpy="${origin_rpy}" />
+      <parent link="base_link" />
+      <child link="${name}_link" />
+      <axis xyz="0 1 0"/>
+      <dynamics damping="0.1"/>
+    </joint>
+
+    <!-- Correct transmission for ROS2 -->
+    <transmission name="${name}_trans">
+      <type>transmission_interface/SimpleTransmission</type>
+      <joint name="${name}_joint">
+        <hardwareInterface>hardware_interface/velocity</hardwareInterface>
+      </joint>
+      <actuator name="${name}_motor">
+        <mechanicalReduction>1</mechanicalReduction>
+        <hardwareInterface>hardware_interface/velocity</hardwareInterface>
+      </actuator>
+    </transmission>
+
+    <gazebo reference="${name}_link">
+      <mu1>0.8</mu1>
+      <mu2>0.8</mu2>
+      <kp>100000.0</kp>
+      <kd>1.0</kd>
+      <material>Gazebo/Black</material>
+    </gazebo>
+
+  </xacro:macro>
+</robot>

agv_pro_gazebo/urdf/ros2_controller.xacro

@@ -0,0 +1,56 @@
+<?xml version="1.0"?>
+<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
+    <xacro:macro name="ros2_controller">
+        <ros2_control name="FishBotGazeboSystem" type="system">
+            <hardware>
+                <plugin>gazebo_ros2_control/GazeboSystem</plugin>
+            </hardware>
+            
+            <!-- 配置所有轮子的控制接口 -->
+            <joint name="front_left_wheel_joint">
+                <command_interface name="position" />
+                <command_interface name="velocity" />
+                <command_interface name="effort" />
+                <state_interface name="position" />
+                <state_interface name="velocity" />
+                <state_interface name="effort" />
+            </joint>
+
+            <joint name="front_right_wheel_joint">
+                <command_interface name="position" />
+                <command_interface name="velocity" />
+                <command_interface name="effort" />
+                <state_interface name="position" />
+                <state_interface name="velocity" />
+                <state_interface name="effort" />
+            </joint>
+
+            <joint name="rear_left_wheel_joint">
+                <command_interface name="position" />
+                <command_interface name="velocity" />
+                <command_interface name="effort" />
+                <state_interface name="position" />
+                <state_interface name="velocity" />
+                <state_interface name="effort" />
+            </joint>
+
+            <joint name="rear_right_wheel_joint">
+                <command_interface name="position" />
+                <command_interface name="velocity" />
+                <command_interface name="effort" />
+                <state_interface name="position" />
+                <state_interface name="velocity" />
+                <state_interface name="effort" />
+            </joint>
+        </ros2_control>
+        <gazebo>
+            <plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
+                <parameters>$(find agv_pro_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>
+</robot>

agv_pro_gazebo/worlds/empty.world

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<sdf version="1.6">
+  <world name="empty_world">
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <include>
+      <uri>model://sun</uri>
+    </include>
+  </world>
+</sdf>

teleop_twist_keyboard/teleop_twist_keyboard.py

@@ -141,7 +141,9 @@ def main():
     stamped = node.declare_parameter('stamped', False).value
     frame_id = node.declare_parameter('frame_id', '').value
     speed = node.declare_parameter('speed', 0.25).value
-    turn = node.declare_parameter('turn', 0.5).value    
+    turn = node.declare_parameter('turn', 0.5).value
+    speed_limit = node.declare_parameter('speed_limit', 1.5).value
+    turn_limit = node.declare_parameter('turn_limit', 1.5).value    
     if not stamped and frame_id:
         raise Exception("'frame_id' can only be set when 'stamped' is True")
 
@@ -181,8 +183,13 @@ def main():
                 z = moveBindings[key][2]
                 th = moveBindings[key][3]
             elif key in speedBindings.keys():
-                speed = speed * speedBindings[key][0]
+                speed = min(speed_limit, speed * speedBindings[key][0])
-                turn = turn * speedBindings[key][1]
+                turn = min(turn_limit, turn * speedBindings[key][1])
+
+                if speed == speed_limit:
+                    print("Linear speed limit reached!")
+                if turn == turn_limit:
+                    print("Angular speed limit reached!")
 
                 print(vels(speed, turn))
                 if (status == 14):