ros-gazebo-仿真環境搭建

1計算機環境：Ubuntu16.04+ros kinetic

2創建工作空間

創建ROS工作空間，命名爲SmartCar，並在該工作空間中創建src文件夾。

mkdir -p /SmartCar/src

3初始化工作空間

cd /SmartCar
catkin_init_workspace

4創建文件描述包

cd /src
roscreate-pkg smartcar_description urdf

 5 創建urdf描述文件

在smartcar_description文件夾下創建urdf文件夾，並創建智能車的描述文件my_move_robot.xacro，寫入下述代碼：

<?xml version="1.0"?>

<robot xmlns:xacro="http://www.ros.org/wiki/xacro" 
    xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor"
        xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller"
        xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface"
    name="robot1_xacro">


    <xacro:property name="length_wheel" value="0.05" />
    <xacro:property name="radius_wheel" value="0.05" />
    <xacro:macro name="default_inertial" params="mass">
               <inertial>
                       <mass value="${mass}" />
                       <inertia ixx="1.0" ixy="0.0" ixz="0.0"
                                iyy="1.0" iyz="0.0"
                                izz="1.0" />
               </inertial>
    </xacro:macro>

    <link name="base_footprint">
        <visual>
            <geometry>
                    <box size="0.001 0.001 0.001"/>
                </geometry>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        </visual>
        <xacro:default_inertial mass="0.0001"/>
    </link>
    <joint name="base_footprint_joint" type="fixed">
        <origin xyz="0 0 0" />
        <parent link="base_footprint" />
        <child link="base_link" />
    </joint>


    <link name="base_link">
        <visual>
            <geometry>
                    <box size="0.2 .3 .1"/>
                </geometry>
            <origin rpy="0 0 1.54" xyz="0 0 0.05"/>
            <material name="white">
                <color rgba="1 1 1 1"/>
            </material>
        </visual>
        <collision>
            <geometry>
                    <box size="0.2 .3 0.1"/>
            </geometry>
        </collision>
        <xacro:default_inertial mass="10"/>
    </link>

    <link name="wheel_1">
        <visual>
                <geometry>
                    <cylinder length="${length_wheel}" radius="${radius_wheel}"/>
                </geometry>
            <!-- <origin rpy="0 1.5 0" xyz="0.1 0.1 0"/> -->
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <material name="black">
                <color rgba="0 0 0 1"/>
            </material>
        </visual>
        <collision>
            <geometry>
                    <cylinder length="${length_wheel}" radius="${radius_wheel}"/>
            </geometry>
        </collision>
        <xacro:default_inertial mass="1"/>
    </link>

    <link name="wheel_2">
        <visual>
                <geometry>
                    <cylinder length="${length_wheel}" radius="${radius_wheel}"/>
                </geometry>
            <!-- <origin rpy="0 1.5 0" xyz="-0.1 0.1 0"/> -->
            <origin rpy="0 0 0" xyz="0 0 0"/>
            <material name="black"/>
        </visual>
        <collision>
            <geometry>
                    <cylinder length="${length_wheel}" radius="${radius_wheel}"/>
            </geometry>
        </collision>
        <xacro:default_inertial mass="1"/>

    </link>

    <link name="wheel_3">
        <visual>
                <geometry>
                    <cylinder length="${length_wheel}" radius="${radius_wheel}"/>
                </geometry>
            <!-- <origin rpy="0 1.5 0" xyz="0.1 -0.1 0"/> -->

            <origin rpy="0 0 0" xyz="0 0 0"/>
            <material name="black"/>
        </visual>
        <collision>
            <geometry>
                    <cylinder length="${length_wheel}" radius="${radius_wheel}"/>
            </geometry>
        </collision>
        <xacro:default_inertial mass="1"/>
    </link>

    <link name="wheel_4">
        <visual>
                <geometry>
                    <cylinder length="${length_wheel}" radius="${radius_wheel}"/>
                </geometry>
        <!--    <origin rpy="0 1.5 0" xyz="-0.1 -0.1 0"/> -->
            <origin rpy="0 0 0" xyz="0 0 0" />
            <material name="black"/>
        </visual>
        <collision>
            <geometry>
                    <cylinder length="${length_wheel}" radius="${radius_wheel}"/>
            </geometry>
        </collision>
        <xacro:default_inertial mass="1"/>

    </link>



 <joint name="base_to_wheel1" type="continuous">
   <parent link="base_link"/>
   <child link="wheel_1"/>
   <origin rpy="1.5707 0 0" xyz="0.1 0.15 0"/>
   <axis xyz="0 0 1" />
 </joint>

 <joint name="base_to_wheel2" type="continuous">
   <axis xyz="0 0 1" />
   <anchor xyz="0 0 0" />
   <limit effort="100" velocity="100" />
   <parent link="base_link"/>
   <child link="wheel_2"/>
   <origin rpy="1.5707 0 0" xyz="-0.1 0.15 0"/>
</joint>

 <joint name="base_to_wheel3" type="continuous">
   <parent link="base_link"/>
   <axis xyz="0 0 1" />
   <child link="wheel_3"/>
   <origin rpy="1.5707 0 0" xyz="0.1 -0.15 0"/>
 </joint>

 <joint name="base_to_wheel4" type="continuous">
   <parent link="base_link"/>
   <axis xyz="0 0 1" />
   <child link="wheel_4"/>
   <origin rpy="1.5707 0 0" xyz="-0.1 -0.15 0"/>
 </joint>





<!-- Drive controller -->
<gazebo>
  <plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
    <updateRate>100.0</updateRate>
    <robotNamespace></robotNamespace>
    <leftFrontJoint>base_to_wheel1</leftFrontJoint>
    <rightFrontJoint>base_to_wheel3</rightFrontJoint>
    <leftRearJoint>base_to_wheel2</leftRearJoint>
    <rightRearJoint>base_to_wheel4</rightRearJoint>
    <wheelSeparation>4</wheelSeparation>
    <wheelDiameter>0.1</wheelDiameter>
    <commandTopic>cmd_vel</commandTopic>
    <odometryTopic>odom</odometryTopic>
    <robotBaseFrame>base_footprint</robotBaseFrame>
    <odometryFrame>odom</odometryFrame>
    <torque>1</torque>
    <topicName>cmd_vel</topicName>
    <broadcastTF>1</broadcastTF>
  </plugin>
</gazebo>


<!-- ros_control plugin -->
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/robot</robotNamespace>

    </plugin>
  </gazebo>

</robot>

 6創建launch文件

  在/smartcar_description文件夾下建立launch文件夾，並創建智能車的launch文件 my_move_roboot.launch，描述代碼如下：

<?xml version="1.0"?>
<launch>
 <include file="$(find gazebo_ros)/launch/empty_world.launch">
  </include>
  <!-- Load the URDF into the ROS Parameter Server -->
  <param name="robot_description"
         command="$(find xacro)/xacro.py '$(find smartcar_description)/urdf/my_move_robot.xacro'" />
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />

  <!-- Run a python script to the send a service call to gazebo_ros to spawn a URDF robot -->
   <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
        args="-urdf -model robot1 -param robot_description -z 0.05"/>

</launch>

 7安裝鍵盤控制器包

使用如下命令安裝

 sudo apt-get install ros-hydro-teleop-twist-keyboard
 rosstack profile
 rospack profile

 8.啓動並運行，讓小車動起來

a)啓動.launch文件

source devel/setup.bash
roslaunch smartcar_description my_move_roboot.launch

b)啓動鍵盤控制器

rosrun teleop_twist_keyboard teleop_twist_keyboard.py
 

通過以上步驟，就可以啓動gazebo，通過鍵盤控制，機器人就會做出相應的運動；

以下是機器人模型在rviz中顯示。

參考https://blog.csdn.net/qq_16775293/article/details/88189184

上邊gazebo顯示模型主要參考https://blog.csdn.net/ktigerhero3/article/details/65443920