GAZEBO仿真學習筆記(1) urdf 編寫 及rviz 可視化

舵輪機器人 urdf 及rviz 可視化

• 編寫一個urdf 文件

<robot name="test_robot">
  <link name="base_link">
    <visual>
       <geometry>
         <box size="0.2 .3 .1"/>
       </geometry>
       <origin rpy="0 0 0" xyz="0 0 0.05"/>
    </visual>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>

    <link name="steering_wheel_joint_link">
    <visual>
       <geometry>
         <box size="0.02 .03 .01"/>
       </geometry>
    </visual>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>

    
  <link name="wheel_left">
    <visual>
      <geometry>
        <cylinder length="0.05" radius="0.05"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.05" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
 
  <link name="wheel_right">
    <visual>
      <geometry>
        <cylinder length="0.05" radius="0.05"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.05" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>

  <link name="steering_wheel">
    <visual>
      <geometry>
        <cylinder length="0.05" radius="0.05"/>
      </geometry>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.05" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="0.4" ixy="0.0" ixz="0.0" iyy="0.4" iyz="0.0" izz="0.2"/>
    </inertial>
  </link>
 
 
  <joint name="joint_base_wheel1" type="continuous">
    <parent link="base_link"/>
    <child link="wheel_left"/>
    <origin rpy="0 1.5708 0" xyz="0.1 -0.1 0"/>
    <axis xyz="0 0 1"/> 
  </joint>
 
  <joint name="joint_base_wheel2" type="continuous">
    <parent link="base_link"/>
    <child link="wheel_right"/>
    <axis xyz="0 0 1"/>
    <origin rpy="0 1.5708 0" xyz="-0.1 -0.1 0"/>
  </joint>
 
  <joint name="joint_base_steering" type="continuous">
    <parent link="base_link"/>
    <child link="steering_wheel_joint_link"/>
    <axis xyz="0 0 1"/>
    <origin rpy="0 0 0" xyz="0 0.1 0"/>
  </joint>

  <joint name="joint_base_wheel3" type="continuous">
    <parent link="steering_wheel_joint_link"/>
    <child link="steering_wheel"/>
    <axis xyz="0 0 1"/> 
    <origin rpy="0 1.5708 0" xyz="0 0 0"/>
  </joint>

</robot>

• 運行 urdf_tuotrial 進行可視化

roslaunch urdf_tutorial display.launch model:=sterring_wheel.urdf

使 URDF 模型動起來

http://wiki.ros.org/urdf/Tutorials/Using a URDF in Gazebo