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Gazebo——仿真平台搭建(基于Ubuntu20.04）

Gazebo安装配置

1.设置你的电脑来接收软件

  1. sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'

2.设置秘钥

  1. wget https://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -

3.安装Gazebo

  1. sudo apt-get update
  2. sudo apt-get install gazebo11
  3. sudo apt-get install libgazebo11-dev

4.检查你的安装是否有效果=

  1. gazebo

5.打开 /.gazebo文件夹 下载模型

  1. cd ~/.gazebo
  2. git clone https://github.com/osrf/gazebo_models

如果出现fatal连接GitHub失败请使用以下代码

  1. git clone https://gitclone.com/github.com/osrf/gazebo_models

下载时间可能偏久，读者可以选择和我一样另起终端进行其他操作，等到需要使用场景模型的时候大概也已经下载完成。 

  1. 6.其他关联安装包（不定时更新）
  1. sudo apt-get install ros-noetic-rviz
  3. sudo apt-get install ros-noetic-robot-state-publisher
  5. sudo apt-get install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-control
  7. sudo apt install ros-noetic-moveit

然后运行安装包索引

  1. sudo apt-get update

接下来进行机器人模型的搭建

机器人模型配置

首先进入到mbot_description/urdf/xacro下

  1. cd ~/catkin_ws/src/mbot_description/urdf/xacro
  2. mkdir gazebo 
  3. cd gazebo
  4. sudo gedit mbot_base_gazebo.xacro

编辑模型文件

  1. <?xml version="1.0"?>
  2. <robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
  3. <!--存放下面相关定义内容-->
  4. </robot>
  5.     <!-- PROPERTY LIST -->
  6.     <xacro:property name="M_PI" value="3.1415926"/>
  7.     <xacro:property name="base_mass"   value="20" /> 
  8.     <xacro:property name="base_radius" value="0.20"/>
  9.     <xacro:property name="base_length" value="0.16"/>
  11.     <xacro:property name="wheel_mass"   value="2" />
  12.     <xacro:property name="wheel_radius" value="0.06"/>
  13.     <xacro:property name="wheel_length" value="0.025"/>
  14.     <xacro:property name="wheel_joint_y" value="0.19"/>
  15.     <xacro:property name="wheel_joint_z" value="0.05"/>
  17.     <xacro:property name="caster_mass"    value="0.5" /> 
  18.     <xacro:property name="caster_radius"  value="0.015"/> <!-- wheel_radius - ( base_length/2 - wheel_joint_z) -->
  19.     <xacro:property name="caster_joint_x" value="0.18"/>
  20.     <!-- Defining the colors used in this robot -->
  21.     <material name="yellow">
  22.         <color rgba="1 0.4 0 1"/>
  23.     </material>
  24.     <material name="black">
  25.         <color rgba="0 0 0 0.95"/>
  26.     </material>
  27.     <material name="gray">
  28.         <color rgba="0.75 0.75 0.75 1"/>
  29.     </material>
  30. <!-- Macro for inertia matrix -->
  31.     <xacro:macro name="sphere_inertial_matrix" params="m r">
  32.         <inertial>
  33.             <mass value="${m}" />
  34.             <inertia ixx="${2*m*r*r/5}" ixy="0" ixz="0"
  35.                 iyy="${2*m*r*r/5}" iyz="0" 
  36.                 izz="${2*m*r*r/5}" />
  37.         </inertial>
  38.     </xacro:macro>
  39.     <xacro:macro name="cylinder_inertial_matrix" params="m r h">
  40.         <inertial>
  41.             <mass value="${m}" />
  42.             <inertia ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"
  43.                 iyy="${m*(3*r*r+h*h)/12}" iyz = "0"
  44.                 izz="${m*r*r/2}" /> 
  45.         </inertial>
  46.     </xacro:macro>
  47.  <!-- Macro for robot wheel -->
  48.     <xacro:macro name="wheel" params="prefix reflect">
  49.         <joint name="${prefix}_wheel_joint" type="continuous">
  50.             <origin xyz="0 ${reflect*wheel_joint_y} ${-wheel_joint_z}" rpy="0 0 0"/>
  51.             <parent link="base_link"/>
  52.             <child link="${prefix}_wheel_link"/>
  53.             <axis xyz="0 1 0"/>
  54.         </joint>
  56.         <link name="${prefix}_wheel_link">
  57.             <visual>
  58.                 <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
  59.                 <geometry>
  60.                     <cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
  61.                 </geometry>
  62.                 <material name="gray" />
  63.             </visual>
  64.               <!-- collision -->
  65.               <!-- the same with visual -->
  66.               <!--增加惯性属性和碰撞属性-->
  67.             <collision>
  68.                 <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />  
  69.                 <geometry>
  70.                     <cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
  71.                 </geometry>
  72.             </collision>
  73.               <!-- inertial -->
  74.             <cylinder_inertial_matrix  m="${wheel_mass}" r="${wheel_radius}" h="${wheel_length}" />             
  75.         </link>
  76.         <!--添加gazebo标签为各link配颜色 ，gazebo与rivz颜色设置不兼容-->
  77.                      <!-- Add gazebo tag to link -->
  78.         <gazebo reference="${prefix}_wheel_link">
  79.             <material>Gazebo/Gray</material>          
  80.         </gazebo>
  81.         <!--joint添加传动装置,用得 transmission 标签,小车轮子用速度控制接口-->
  82.                 <!-- Transmission is important to link the joints and the controller -->
  83.         <transmission name="${prefix}_wheel_joint_trans">
  84.             <type>transmission_interface/SimpleTransmission</type>
  85.             <joint name="${prefix}_wheel_joint" >
  86.                 <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
  87.             </joint>
  88.             <actuator name="${prefix}_wheel_joint_motor">
  89.                 <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
  90.                 <mechanicalReduction>1</mechanicalReduction>
  91.             </actuator>
  92.         </transmission>
  93.     </xacro:macro>
  94.   <!-- Macro for robot caster -->
  95.     <xacro:macro name="caster" params="prefix reflect">
  96.         <joint name="${prefix}_caster_joint" type="continuous">
  97.             <origin xyz="${reflect*caster_joint_x} 0 ${-(base_length/2 + caster_radius)}" rpy="0 0 0"/>
  98.             <parent link="base_link"/>
  99.             <child link="${prefix}_caster_link"/>
  100.             <axis xyz="0 1 0"/>
  101.         </joint>
  103.         <link name="${prefix}_caster_link">
  104.             <visual>
  105.                 <origin xyz="0 0 0" rpy="0 0 0"/>
  106.                 <geometry>
  107.                     <sphere radius="${caster_radius}" />
  108.                 </geometry>
  109.                 <material name="black" />
  110.             </visual>
  111.                  <!-- 碰撞属性 -->
  112.             <collision>
  113.                 <origin xyz="0 0 0" rpy="0 0 0"/>
  114.                 <geometry>
  115.                     <sphere radius="${caster_radius}" />
  116.                 </geometry>
  117.             </collision>  
  118.                  <!-- 惯性属性 -->
  119.             <sphere_inertial_matrix  m="${caster_mass}" r="${caster_radius}" />
  120.         </link>
  121.         <!--添加gazebo标签,为各link配颜色-->
  122.         <gazebo reference="${prefix}_caster_link">
  123.             <material>Gazebo/Black</material>
  124.         </gazebo>
  125.     </xacro:macro>
  126.     <xacro:macro name="mbot_base_gazebo">
  127.         <link name="base_footprint">
  128.             <visual>
  129.                 <origin xyz="0 0 0" rpy="0 0 0" />
  130.                 <geometry>
  131.                     <box size="0.001 0.001 0.001" />
  132.                 </geometry>
  133.             </visual>
  134.         </link>
  135.            <!-- 给 base_footprint 添加标签 -->
  136.         <gazebo reference="base_footprint">
  137.             <turnGravityOff>false</turnGravityOff>
  138.         </gazebo>
  140.         <joint name="base_footprint_joint" type="fixed">
  141.             <origin xyz="0 0 ${base_length/2 + caster_radius*2}" rpy="0 0 0" />        
  142.             <parent link="base_footprint"/>
  143.             <child link="base_link" />
  144.         </joint>
  145.         <!--base_link添加碰撞属性和惯性属性-->
  146.                 <link name="base_link">
  147.             <visual>
  148.                 <origin xyz=" 0 0 0" rpy="0 0 0" />
  149.                 <geometry>
  150.                     <cylinder length="${base_length}" radius="${base_radius}"/>
  151.                 </geometry>
  152.                 <material name="yellow" />
  153.             </visual>
  154.             <collision>
  155.                 <origin xyz=" 0 0 0" rpy="0 0 0" />
  156.                 <geometry>
  157.                     <cylinder length="${base_length}" radius="${base_radius}"/>
  158.                 </geometry>
  159.             </collision>   
  160.             <cylinder_inertial_matrix  m="${base_mass}" r="${base_radius}" h="${base_length}" />
  161.         </link>
  162.         <!--base_link添加gazebo标签-->
  163.         <gazebo reference="base_link">
  164.             <material>Gazebo/Blue</material>
  165.         </gazebo>
  166.         <wheel prefix="left" reflect="-1"/> <!-- 调用驱动轮子宏定义 -->
  167.         <wheel prefix="right" reflect="1"/> <!-- 调用驱动轮子宏定义 -->
  168.         <caster prefix="front" reflect="-1"/> <!--调用支撑轮子宏定义-->
  169.         <caster prefix="back" reflect="1"/> <!-- 调用支撑轮子宏定义 -->
  170.     </xacro:macro>
  171.         <!-- controller -->
  172.         <gazebo>
  173.             <plugin name="differential_drive_controller" 
  174.                     filename="libgazebo_ros_diff_drive.so"> <!-- gazebo提供得差速控制器插件 -->
  175.                     <!-- 控制器所需参数 -->
  176.                 <rosDebugLevel>Debug</rosDebugLevel>
  177.                 <publishWheelTF>true</publishWheelTF>
  178.                 <robotNamespace>/</robotNamespace><!-- 机器人命名空间 订阅和发布得话题 前面 会加上命名空间 /说明没有添加-->
  179.                 <publishTf>1</publishTf>
  180.                 <publishWheelJointState>true</publishWheelJointState>
  181.                 <alwaysOn>true</alwaysOn>
  182.                 <updateRate>100.0</updateRate>
  183.                 <legacyMode>true</legacyMode>
  184.                 <leftJoint>left_wheel_joint</leftJoint> <!-- 控制得joint在哪里，必须和上面得joint名称一致 -->
  185.                 <rightJoint>right_wheel_joint</rightJoint><!-- 控制得joint在哪里，必须和上面得joint名称一致 -->
  186.                 <wheelSeparation>${wheel_joint_y*2}</wheelSeparation><!-- 两个轮子得间距 -->
  187.                 <wheelDiameter>${2*wheel_radius}</wheelDiameter>
  188.                 <broadcastTF>1</broadcastTF>
  189.                 <wheelTorque>30</wheelTorque>
  190.                 <wheelAcceleration>1.8</wheelAcceleration>
  191.                 <commandTopic>cmd_vel</commandTopic> <!-- 订阅得话题：速度控制指令 -->
  192.                 <odometryFrame>odom</odometryFrame> 
  193.                 <odometryTopic>odom</odometryTopic> <!-- 发布里程计信息 -->
  194.                 <robotBaseFrame>base_footprint</robotBaseFrame><!-- 设置controler所控制的机器人的坐标系是哪个坐标系 -->
  195.             </plugin>
  196.         </gazebo>

再编辑mbot_gazebo.xacro

  1. <?xml version="1.0"?>
  2. <robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
  3.     <xacro:include filename="$(find mbot_description)/urdf/xacro/gazebo/mbot_base_gazebo.xacro" /> <!-- 包含文件 -->
  4.     <mbot_base_gazebo/>    <!-- 调用宏定义 -->
  5. </robot>

编辑launch文件

  1. cd ~/catkin_ws/src/mbot_description/launch/xacro
  2. mkdir gazebo
  3. cd gazebo
  4. sudo gedit mbot_base_gazebo.launch
  1. <launch>
  3.     <!-- 设置launch文件的参数 -->
  4.     <arg name="paused" default="false"/>
  5.     <arg name="use_sim_time" default="true"/>
  6.     <arg name="gui" default="true"/>
  7.     <arg name="headless" default="false"/>
  8.     <arg name="debug" default="false"/>
  10.     <!-- 运行gazebo仿真环境 -->
  11.     <include file="$(find gazebo_ros)/launch/empty_world.launch">
  12.         <arg name="debug" value="$(arg debug)" />
  13.         <arg name="gui" value="$(arg gui)" />
  14.         <arg name="paused" value="$(arg paused)"/>
  15.         <arg name="use_sim_time" value="$(arg use_sim_time)"/>
  16.         <arg name="headless" value="$(arg headless)"/>
  17.     </include>
  19.     <!-- 加载机器人模型描述参数 -->
  20.     <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/gazebo/mbot_gazebo.xacro'" /> 
  22.     <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
  23.     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> 
  25.     <!-- 运行robot_state_publisher节点，发布tf  -->
  26.     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
  27.         <param name="publish_frequency" type="double" value="50.0" />
  28.     </node>
  30.     <!-- 在gazebo中加载机器人模型-->
  31.     <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
  32.           args="-urdf -model mrobot -param robot_description"/> 
  33. </launch>

配置完成后运行显示模型

  1. roslaunch mbot_description mbot_base_gazebo.launch

注意

由于Ubuntu20.04对应的ros版本为noetic，所以xacro模型文件的宏定义和宏调用方式都需要更改

Ubuntu20.04的mbot_base_gazebo.xacro文件对应的内容如下

  1. <?xml version="1.0"?>
  2. <robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
  4.     <!-- PROPERTY LIST -->
  5.     <xacro:property name="M_PI" value="3.1415926"/>
  6.     <xacro:property name="base_mass"   value="20" /> 
  7.     <xacro:property name="base_radius" value="0.20"/>
  8.     <xacro:property name="base_length" value="0.16"/>
  10.     <xacro:property name="wheel_mass"   value="2" />
  11.     <xacro:property name="wheel_radius" value="0.06"/>
  12.     <xacro:property name="wheel_length" value="0.025"/>
  13.     <xacro:property name="wheel_joint_y" value="0.19"/>
  14.     <xacro:property name="wheel_joint_z" value="0.05"/>
  16.     <xacro:property name="caster_mass"    value="0.5" /> 
  17.     <xacro:property name="caster_radius"  value="0.015"/> <!-- wheel_radius - ( base_length/2 - wheel_joint_z) -->
  18.     <xacro:property name="caster_joint_x" value="0.18"/>
  20.     <!-- Defining the colors used in this robot -->
  21.     <material name="yellow">
  22.         <color rgba="1 0.4 0 1"/>
  23.     </material>
  24.     <material name="black">
  25.         <color rgba="0 0 0 0.95"/>
  26.     </material>
  27.     <material name="gray">
  28.         <color rgba="0.75 0.75 0.75 1"/>
  29.     </material>
  30.     
  31.     <!-- Macro for inertia matrix -->
  32.     <xacro:macro name="sphere_inertial_matrix" params="m r">
  33.         <inertial>
  34.             <mass value="${m}" />
  35.             <inertia ixx="${2*m*r*r/5}" ixy="0" ixz="0"
  36.                 iyy="${2*m*r*r/5}" iyz="0" 
  37.                 izz="${2*m*r*r/5}" />
  38.         </inertial>
  39.     </xacro:macro>
  41.     <xacro:macro name="cylinder_inertial_matrix" params="m r h">
  42.         <inertial>
  43.             <mass value="${m}" />
  44.             <inertia ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"
  45.                 iyy="${m*(3*r*r+h*h)/12}" iyz = "0"
  46.                 izz="${m*r*r/2}" /> 
  47.         </inertial>
  48.     </xacro:macro>
  50.     <!-- Macro for robot wheel -->
  51.     <xacro:macro name="wheel" params="prefix reflect">
  52.         <joint name="${prefix}_wheel_joint" type="continuous">
  53.             <origin xyz="0 ${reflect*wheel_joint_y} ${-wheel_joint_z}" rpy="0 0 0"/>
  54.             <parent link="base_link"/>
  55.             <child link="${prefix}_wheel_link"/>
  56.             <axis xyz="0 1 0"/>
  57.         </joint>
  59.         <link name="${prefix}_wheel_link">
  60.             <visual>
  61.                 <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
  62.                 <geometry>
  63.                     <cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
  64.                 </geometry>
  65.                 <material name="gray" />
  66.             </visual>
  67.             <collision>
  68.                 <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
  69.                 <geometry>
  70.                     <cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
  71.                 </geometry>
  72.             </collision>
  73.             <xacro:cylinder_inertial_matrix  m="${wheel_mass}" r="${wheel_radius}" h="${wheel_length}" />
  74.         </link>
  76.         <gazebo reference="${prefix}_wheel_link">
  77.             <material>Gazebo/Gray</material>
  78.         </gazebo>
  80.         <!-- Transmission is important to link the joints and the controller -->
  81.         <transmission name="${prefix}_wheel_joint_trans">
  82.             <type>transmission_interface/SimpleTransmission</type>
  83.             <joint name="${prefix}_wheel_joint" >
  84.                 <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
  85.             </joint>
  86.             <actuator name="${prefix}_wheel_joint_motor">
  87.                 <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
  88.                 <mechanicalReduction>1</mechanicalReduction>
  89.             </actuator>
  90.         </transmission>
  91.     </xacro:macro>
  93.     <!-- Macro for robot caster -->
  94.     <xacro:macro name="caster" params="prefix reflect">
  95.         <joint name="${prefix}_caster_joint" type="continuous">
  96.             <origin xyz="${reflect*caster_joint_x} 0 ${-(base_length/2 + caster_radius)}" rpy="0 0 0"/>
  97.             <parent link="base_link"/>
  98.             <child link="${prefix}_caster_link"/>
  99.             <axis xyz="0 1 0"/>
  100.         </joint>
  102.         <link name="${prefix}_caster_link">
  103.             <visual>
  104.                 <origin xyz="0 0 0" rpy="0 0 0"/>
  105.                 <geometry>
  106.                     <sphere radius="${caster_radius}" />
  107.                 </geometry>
  108.                 <material name="black" />
  109.             </visual>
  110.             <collision>
  111.                 <origin xyz="0 0 0" rpy="0 0 0"/>
  112.                 <geometry>
  113.                     <sphere radius="${caster_radius}" />
  114.                 </geometry>
  115.             </collision>      
  116.             <xacro:sphere_inertial_matrix  m="${caster_mass}" r="${caster_radius}" />
  117.         </link>
  119.         <gazebo reference="${prefix}_caster_link">
  120.             <material>Gazebo/Black</material>
  121.         </gazebo>
  122.     </xacro:macro>
  124.     <xacro:macro name="mbot_base_gazebo">
  125.         <link name="base_footprint">
  126.             <visual>
  127.                 <origin xyz="0 0 0" rpy="0 0 0" />
  128.                 <geometry>
  129.                     <box size="0.001 0.001 0.001" />
  130.                 </geometry>
  131.             </visual>
  132.         </link>
  133.         <gazebo reference="base_footprint">
  134.             <turnGravityOff>false</turnGravityOff>
  135.         </gazebo>
  137.         <joint name="base_footprint_joint" type="fixed">
  138.             <origin xyz="0 0 ${base_length/2 + caster_radius*2}" rpy="0 0 0" />        
  139.             <parent link="base_footprint"/>
  140.             <child link="base_link" />
  141.         </joint>
  143.         <link name="base_link">
  144.             <visual>
  145.                 <origin xyz=" 0 0 0" rpy="0 0 0" />
  146.                 <geometry>
  147.                     <cylinder length="${base_length}" radius="${base_radius}"/>
  148.                 </geometry>
  149.                 <material name="yellow" />
  150.             </visual>
  151.             <collision>
  152.                 <origin xyz=" 0 0 0" rpy="0 0 0" />
  153.                 <geometry>
  154.                     <cylinder length="${base_length}" radius="${base_radius}"/>
  155.                 </geometry>
  156.             </collision>   
  157.             <xacro:cylinder_inertial_matrix  m="${base_mass}" r="${base_radius}" h="${base_length}" />
  158.         </link>
  160.         <gazebo reference="base_link">
  161.             <material>Gazebo/Blue</material>
  162.         </gazebo>
  164.         <xacro:wheel prefix="left"  reflect="-1"/>
  165.         <xacro:wheel prefix="right" reflect="1"/>
  167.         <xacro:caster prefix="front" reflect="-1"/>
  168.         <xacro:caster prefix="back"  reflect="1"/>
  170.         <!-- controller -->
  171.         <gazebo>
  172.             <plugin name="differential_drive_controller" 
  173.                     filename="libgazebo_ros_diff_drive.so">
  174.                 <rosDebugLevel>Debug</rosDebugLevel>
  175.                 <publishWheelTF>true</publishWheelTF>
  176.                 <robotNamespace>/</robotNamespace>
  177.                 <publishTf>1</publishTf>
  178.                 <publishWheelJointState>true</publishWheelJointState>
  179.                 <alwaysOn>true</alwaysOn>
  180.                 <updateRate>100.0</updateRate>
  181.                 <legacyMode>true</legacyMode>
  182.                 <leftJoint>left_wheel_joint</leftJoint>
  183.                 <rightJoint>right_wheel_joint</rightJoint>
  184.                 <wheelSeparation>${wheel_joint_y*2}</wheelSeparation>
  185.                 <wheelDiameter>${2*wheel_radius}</wheelDiameter>
  186.                 <broadcastTF>1</broadcastTF>
  187.                 <wheelTorque>30</wheelTorque>
  188.                 <wheelAcceleration>1.8</wheelAcceleration>
  189.                 <commandTopic>cmd_vel</commandTopic>
  190.                 <odometryFrame>odom</odometryFrame> 
  191.                 <odometryTopic>odom</odometryTopic> 
  192.                 <robotBaseFrame>base_footprint</robotBaseFrame>
  193.             </plugin>
  194.         </gazebo> 
  195.     </xacro:macro>
  197. </robot>

需要更改的地方为

在轮子的宏定义语法以及支撑轮的宏定义语法前添加xacro引用

cylinder_inertial_matrix,

sphere_inertial_matrix

两个个标签引用的时候也需要加上xacro引用

以及mbot_gazebo.xacro文件也需要更改宏定义 

  1. <?xml version="1.0"?>
  2. <robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
  3.     <xacro:include filename="$(find mbot_description)/urdf/xacro/gazebo/mbot_base_gazebo.xacro" /> <!-- 包含文件 -->
  4.     <xacro:mbot_base_gazebo/>    <!-- 调用宏定义 -->
  5. </robot>

launch文件同样需要更改，这里有三个更改方法，一般情况下将

  1.  <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/gazebo/mbot_gazebo.xacro'" />

改为xacro 即可

也有其他的解决方法例如将其改为

xacro --i

还有

xacro.py

  1. <launch>
  3.     <!-- 设置launch文件的参数 -->
  4.     <arg name="paused" default="false"/>
  5.     <arg name="use_sim_time" default="true"/>
  6.     <arg name="gui" default="true"/>
  7.     <arg name="headless" default="false"/>
  8.     <arg name="debug" default="false"/>
  10.     <!-- 运行gazebo仿真环境 -->
  11.     <include file="$(find gazebo_ros)/launch/empty_world.launch">
  12.         <arg name="debug" value="$(arg debug)" />
  13.         <arg name="gui" value="$(arg gui)" />
  14.         <arg name="paused" value="$(arg paused)"/>
  15.         <arg name="use_sim_time" value="$(arg use_sim_time)"/>
  16.         <arg name="headless" value="$(arg headless)"/>
  17.     </include>
  19.     <!-- 加载机器人模型描述参数 -->
  20.     <param name="robot_description" command="$(find xacro)/xacro '$(find mbot_description)/urdf/xacro/gazebo/mbot_gazebo.xacro'" /> 
  22.     <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
  23.     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> 
  25.     <!-- 运行robot_state_publisher节点，发布tf  -->
  26.     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
  27.         <param name="publish_frequency" type="double" value="50.0" />
  28.     </node>
  30.     <!-- 在gazebo中加载机器人模型-->
  31.     <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
  32.           args="-urdf -model mrobot -param robot_description"/> 
  33. </launch>

正常启动后如下所示

**创建仿真环境 **

这里有两种方法添加场景模型

第一：直接添加

将模型放置到~/.gazebo/models 文件夹下——在gazebo的左侧列表点击“insert”（可以看到里面有很多的模型，我们只需要从列表中拖出我们需要的模型放置到仿真环境中就可以）

  1. https://bitbucket.org/osrf/gazebo_models/downloads/

这里本文开始时的下载如果已经下载完成可以跳过，如果还未下载完成请等待下载完成再进行后续操作。

选择需要的模型直接拖动到场景中搭建即可

注意这一步需要将原本的机器人模型进行删除然后保存。

这里如果显示conectting----说明还未连接完成，等待出现http-----连接完成后即可正常显示模型，再选择需要的模型添加即可。

自定义文件名称和位置即可

建议存放在catkin_ws/src/mbot_descritpion/worlds下

第二：使用Building editor

模型创建：

Edit——Building editor——绘制环境模型——File——Save保存我们的模型文件（自己设置模型文件名字）——Exit Building Editor（退出编辑界面），可以看到我们的仿真环境已经在gazebo中显示；

保存环境模型同第一种方法一致，然后关闭gazebo界面即可。

仿真使用

  1.     <!-- 设置launch文件的参数 -->
  2.     <arg name="world_name" value="$(find mbot_description)/worlds/Ambulance.world"/><!-- 要加入的部分 -->
  3.     <arg name="paused" default="false"/>
  4.     <arg name="use_sim_time" default="true"/>
  5.     <arg name="gui" default="true"/>
  6.     <arg name="headless" default="false"/>
  7.     <arg name="debug" default="false"/>

**传感器仿真 **

  1. cd ~/catkin_ws/src/mbot_description/urdf/xacro
  2. mkdir sensors
  3. cd sensors
  4. sudo gedit camera_gazebo.xacro
  1. <?xml version="1.0"?>
  2. <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="camera">
  3.     <xacro:macro name="usb_camera" params="prefix:=camera">
  4.         <link name="${prefix}_link">
  5.             <inertial>
  6.                 <mass value="0.1" />
  7.                 <origin xyz="0 0 0" />
  8.                 <inertia ixx="0.01" ixy="0.0" ixz="0.0"
  9.                          iyy="0.01" iyz="0.0"
  10.                          izz="0.01" />
  11.             </inertial>
  13.             <visual>
  14.                 <origin xyz=" 0 0 0 " rpy="0 0 0" />
  15.                 <geometry>
  16.                     <box size="0.01 0.04 0.04" />
  17.                 </geometry>
  18.                 <material name="black"/>
  19.             </visual>
  21.             <collision>
  22.                 <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
  23.                 <geometry>
  24.                     <box size="0.01 0.04 0.04" />
  25.                 </geometry>
  26.             </collision>
  27.         </link>
  28.         <gazebo reference="${prefix}_link">
  29.             <material>Gazebo/Black</material>
  30.         </gazebo>
  31.          <gazebo reference="${prefix}_link"> <!-- 这个sensor代表的link -->
  32.             <sensor type="camera" name="camera_node">
  33.                 <update_rate>30.0</update_rate><!-- 摄像头发布频率 -->
  34.                 <camera name="head">
  35.                     <horizontal_fov>1.3962634</horizontal_fov><!-- 摄像头可视范围 -->
  36.                     <image>
  37.                         <width>1280</width><!-- 摄像头分辨率 -->
  38.                         <height>720</height><!-- 摄像头分辨率 -->
  39.                         <format>R8G8B8</format><!-- 摄像头数据格式 -->
  40.                     </image>
  41.                     <clip>
  42.                         <near>0.02</near><!-- 最近距离 -->
  43.                         <far>300</far><!-- 最远距离 -->
  44.                     </clip>
  45.                     <noise>
  46.                         <type>gaussian</type><!-- 摄像头高斯噪声 -->
  47.                         <mean>0.0</mean>
  48.                         <stddev>0.007</stddev>
  49.                     </noise>
  50.                 </camera>
  51.                 <plugin name="gazebo_camera" filename="libgazebo_ros_camera.so"><!-- 加载插件，实现摄像头功能 -->
  52.                     <alwaysOn>true</alwaysOn>
  53.                     <updateRate>0.0</updateRate>
  54.                     <cameraName>/camera</cameraName><!-- 命名空间 -->
  55.                     <imageTopicName>image_raw</imageTopicName><!-- 发布图片信息话题名称 -->
  56.                     <cameraInfoTopicName>camera_info</cameraInfoTopicName><!-- 发布摄像头信息话题名称 -->
  57.                     <frameName>camera_link</frameName><!-- 数据的坐标系统 -->
  58.                     <hackBaseline>0.07</hackBaseline>
  59.                     <distortionK1>0.0</distortionK1>
  60.                     <distortionK2>0.0</distortionK2>
  61.                     <distortionK3>0.0</distortionK3>
  62.                     <distortionT1>0.0</distortionT1>
  63.                     <distortionT2>0.0</distortionT2>
  64.                 </plugin>
  65.             </sensor>
  66.         </gazebo>
  67.     </xacro:macro>
  68. </robot>
  1. cd ~/catkin_ws/src/mbot_description/urdf/xacro/gazebo
  2. sudo gedit mbot_with_camera_gazebo.xacro

在文件中写入以下内容即可

  1. <?xml version="1.0"?>
  2. <robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
  4.     <xacro:include filename="$(find mbot_description)/urdf/xacro/gazebo/mbot_base_gazebo.xacro" />
  5.     <xacro:include filename="$(find mbot_description)/urdf/xacro/sensors/camera_gazebo.xacro" />
  7.     <xacro:property name="camera_offset_x" value="0.17" />
  8.     <xacro:property name="camera_offset_y" value="0" />
  9.     <xacro:property name="camera_offset_z" value="0.10" />
  11.     <mbot_base/>
  13.     <!-- Camera -->
  14.     <joint name="camera_joint" type="fixed">
  15.         <origin xyz="${camera_offset_x} ${camera_offset_y} ${camera_offset_z}" rpy="0 0 0" />
  16.         <parent link="base_link"/>
  17.         <child link="camera_link"/>
  18.     </joint>
  20.     <xacro:usb_camera prefix="camera"/>
  22.     <xacro:mbot_base_gazebo/>
  24. </robot>

带摄像头的机器人launch启动文件的编写

  1. cd ~/catkin_ws/src/mbot_description/launch/xacro/gazebo
  2. sudo gedit view_mbot_with_camera_gazebo.launch
  1. <launch>
  2.     <arg name="world_name" value="$(find mbot_description)/worlds/Ambulance.world"/>
  3.     <arg name="paused" default="false"/>
  4.     <arg name="use_sim_time" default="true"/>
  5.     <arg name="gui" default="true"/>
  6.     <arg name="headless" default="false"/>
  7.     <arg name="debug" default="false"/>
  8.   
  9.     <include file="$(find gazebo_ros)/launch/empty_world.launch">
  10.         <arg name="world_name" value="$(arg world_name)" />
  11.         <arg name="debug" value="$(arg debug)" />
  12.         <arg name="gui" value="$(arg gui)" />
  13.         <arg name="paused" value="$(arg paused)"/>
  14.         <arg name="use_sim_time" value="$(arg use_sim_time)"/>
  15.         <arg name="headless" value="$(arg headless)"/>
  16.     </include>
  18.     <param name="robot_description" command="$(find xacro)/xacro '$(find mbot_description)/urdf/xacro/gazebo/mbot_with_camera_gazebo.xacro'" /> 
  20.     
  21.     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> 
  23.     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
  24.         <param name="publish_frequency" type="double" value="50.0" />
  25.     </node>
  27.     <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
  28.           args="-urdf -model mrobot -param robot_description"/> 
  30. </launch>

然后运行显示模型

  1. roslaunch mbot_description view_mbot_with_camera_gazebo.launch

注意如果说出现

[ERROR] [1666006852.591762, 106.467000]: Spawn service failed. Exiting.
[urdf_spawner-6] process has died [pid 35261, exit code 1, cmd /opt/ros/noetic/lib/gazebo_ros/spawn_model -urdf -model mrobot -param robot_description __name:=urdf_spawner __log:=/home/q/.ros/log/89f24a6e-4e10-11ed-b861-1f202bd9bc85/urdf_spawner-6.log].
log file: /home/q/.ros/log/89f24a6e-4e10-11ed-b861-1f202bd9bc85/urdf_spawner-6*.log
则说明gazebo进程关闭不完全，需要将所有gazebo进程关闭

  1. killall gzserver

然后发现可以正常启动

使用qt可视化工具查看摄像头画面显示

另起终端

  1. rqt_image_view

注意摄像头参数选定

启用键盘控制

  1. roslaunch mbot_teleop mbot_teleop.launch

注意键盘控制按键

这里如果报错无法定位python 软件包

需要进行下载配置python插件

  1. sudo ln -s /usr/bin/python3 /usr/bin/python

然后再允许键盘控制节点即可

如果读者功能包的src目录下没有mbot_teleop功能包，也可下载另键盘控制功能包

  1. cd ~/carkin_ws/src
  2. git clone https://github.com/ros-teleop/teleop_twist_keyboard.git
  3. //然后启用即可
  4. rosrun teleop_twist_keyboard teleop_twist_keyboard.py

注意该teleop_twist_keyboard.py需要更改为可执行的文件

如果不想使用该功能包，想知道如何自主创建mbot_teleop功能包可参考Arbotix+rviz那篇文章mbot_teleop 功能包创建方法

Rviz查看摄像头采集的信息

  1. rosrun rviz rviz

首先固定框架（fixed frame)选择base_footprint

然后Add——robotmodel——ok

然后Add——image——ok

然后image——image topic——/camera/image_raw

** 激光雷达仿真**

  1. cd ~/catkin_ws/src/mbot_description/urdf/xacro/sensors
  2. sudo gedit lidar_gazebo.xacro
  1. <?xml version="1.0"?>
  2. <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="laser">
  4.     <xacro:macro name="rplidar" params="prefix">
  5.         <!-- Create laser reference frame -->
  6.         <link name="${prefix}_link">
  7.             <inertial>
  8.                 <mass value="0.1" />
  9.                 <origin xyz="0 0 0" />
  10.                 <inertia ixx="0.01" ixy="0.0" ixz="0.0"
  11.                          iyy="0.01" iyz="0.0"
  12.                          izz="0.01" />
  13.             </inertial>
  15.             <visual>
  16.                 <origin xyz=" 0 0 0 " rpy="0 0 0" />
  17.                 <geometry>
  18.                     <cylinder length="0.05" radius="0.05"/>
  19.                 </geometry>
  20.                 <material name="black"/>
  21.             </visual>
  23.             <collision>
  24.                 <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
  25.                 <geometry>
  26.                     <cylinder length="0.06" radius="0.05"/>
  27.                 </geometry>
  28.             </collision>
  29.         </link>
  30.         <gazebo reference="${prefix}_link">
  31.             <material>Gazebo/Black</material>
  32.         </gazebo>
  34.         <gazebo reference="${prefix}_link">
  35.             <sensor type="ray" name="rplidar">
  36.                 <pose>0 0 0 0 0 0</pose>
  37.                 <visualize>false</visualize>
  38.                 <update_rate>5.5</update_rate>
  39.                 <ray>
  40.                     <scan>
  41.                       <horizontal>
  42.                         <samples>360</samples>
  43.                         <resolution>1</resolution>
  44.                         <min_angle>-3</min_angle>
  45.                         <max_angle>3</max_angle>
  46.                       </horizontal>
  47.                     </scan>
  48.                     <range>
  49.                       <min>0.10</min>
  50.                       <max>6.0</max>
  51.                       <resolution>0.01</resolution>
  52.                     </range>
  53.                     <noise>
  54.                       <type>gaussian</type>
  55.                       <mean>0.0</mean>
  56.                       <stddev>0.01</stddev>
  57.                     </noise>
  58.                 </ray>
  59.                 <plugin name="gazebo_rplidar" filename="libgazebo_ros_laser.so">
  60.                     <topicName>/scan</topicName>
  61.                     <frameName>laser_link</frameName>
  62.                 </plugin>
  63.             </sensor>
  64.         </gazebo>
  66.     </xacro:macro>
  67. </robot>

然后编写主体xacro文件

  1. cd ~/catkin_ws/src/mbot_description/urdf/xacro/gazebo
  2. sudo gedit mbot_with_laser_gazebo.xacro

内容如下所示

  1. <?xml version="1.0"?>
  2. <robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
  4.     <xacro:include filename="$(find mbot_description)/urdf/xacro/gazebo/mbot_base_gazebo.xacro" />
  5.     <xacro:include filename="$(find mbot_description)/urdf/xacro/sensors/lidar_gazebo.xacro" />
  7.     <xacro:property name="lidar_offset_x" value="0" />
  8.     <xacro:property name="lidar_offset_y" value="0" />
  9.     <xacro:property name="lidar_offset_z" value="0.105" />
  11.     <!-- lidar -->
  12.     <joint name="lidar_joint" type="fixed">
  13.         <origin xyz="${lidar_offset_x} ${lidar_offset_y} ${lidar_offset_z}" rpy="0 0 0" />
  14.         <parent link="base_link"/>
  15.         <child link="laser_link"/>
  16.     </joint>
  17.     <xacro:rplidar prefix="laser"/>
  18.     <xacro:mbot_base_gazebo/>
  19. </robot>

然后编写launch 启动文件

  1. cd ~/catkin_ws/src/mbot_description/launch/xacro/gazebo
  2. sudo gedit view_mbot_with_laser_gazebo.launch
  1. <launch>
  3.     <arg name="world_name" value="$(find mbot_description)/worlds/Ambulance.world"/>
  4.     <arg name="paused" default="false"/>
  5.     <arg name="use_sim_time" default="true"/>
  6.     <arg name="gui" default="true"/>
  7.     <arg name="headless" default="false"/>
  8.     <arg name="debug" default="false"/>
  10.     <include file="$(find gazebo_ros)/launch/empty_world.launch">
  11.         <arg name="world_name" value="$(arg world_name)" />
  12.         <arg name="debug" value="$(arg debug)" />
  13.         <arg name="gui" value="$(arg gui)" />
  14.         <arg name="paused" value="$(arg paused)"/>
  15.         <arg name="use_sim_time" value="$(arg use_sim_time)"/>
  16.         <arg name="headless" value="$(arg headless)"/>
  17.     </include>
  19.  
  20.     <param name="robot_description" command="$(find xacro)/xacro '$(find mbot_description)/urdf/xacro/gazebo/mbot_with_laser_gazebo.xacro'" />
  22.    
  23.     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> 
  25.    
  26.     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
  27.         <param name="publish_frequency" type="double" value="50.0" />
  28.     </node>
  30.     
  31.     <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
  32.           args="-urdf -model mrobot -param robot_description"/> 
  33. </launch>

激光雷达正常显示

然后启用键盘控制

  1. roslaunch mbot_teleop mbot_teleop.launch

rviz查看雷达采集信息

  1. rosrun rviz rviz

需要注意的地方与刚才类似

首先固定框架（fixed frame)选择base_footprint

然后Add——robotmodel——ok

然后Add——laserscan——ok

然后laserscan——topic——scan

在图中的红色线条即为雷达检测到的障碍物，由于我的小车卡在消防车和救护车之间懒得动了，就不附图说明了，红色线条很淡，建议将小车周围拿障碍物包满。

Kinect仿真

方法跟上面摄像头和激光雷达实现的方法类似，这里就不多加说明了，直接给出结果显示了。
gazebo显示

  1. cd ~/catkin_ws/src/mbot_description/urdf/xacro/sensors
  2. sudo gedit kinect_gazebo.xacro
  1. <?xml version="1.0"?>
  2. <robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kinect_camera">
  4.     <xacro:macro name="kinect_camera" params="prefix:=camera">
  5.         <!-- Create kinect reference frame -->
  6.         <!-- Add mesh for kinect -->
  7.         <link name="${prefix}_link">
  8.             <origin xyz="0 0 0" rpy="0 0 0"/>
  9.             <visual>
  10.                 <origin xyz="0 0 0" rpy="0 0 ${M_PI/2}"/>
  11.                 <geometry>
  12.                     <mesh filename="package://mbot_description/meshes/kinect.dae" />
  13.                 </geometry>
  14.             </visual>
  15.             <collision>
  16.                 <geometry>
  17.                     <box size="0.07 0.3 0.09"/>
  18.                 </geometry>
  19.             </collision>
  20.         </link>
  22.         <joint name="${prefix}_optical_joint" type="fixed">
  23.             <origin xyz="0 0 0" rpy="-1.5708 0 -1.5708"/>
  24.             <parent link="${prefix}_link"/>
  25.             <child link="${prefix}_frame_optical"/>
  26.         </joint>
  28.         <link name="${prefix}_frame_optical"/>
  30.         <gazebo reference="${prefix}_link">
  31.             <sensor type="depth" name="${prefix}">
  32.                 <always_on>true</always_on>
  33.                 <update_rate>20.0</update_rate>
  34.                 <camera>
  35.                     <horizontal_fov>${60.0*M_PI/180.0}</horizontal_fov>
  36.                     <image>
  37.                         <format>R8G8B8</format>
  38.                         <width>640</width>
  39.                         <height>480</height>
  40.                     </image>
  41.                     <clip>
  42.                         <near>0.05</near>
  43.                         <far>8.0</far>
  44.                     </clip>
  45.                 </camera>
  46.                 <plugin name="kinect_${prefix}_controller" filename="libgazebo_ros_openni_kinect.so">
  47.                     <cameraName>${prefix}</cameraName>
  48.                     <alwaysOn>true</alwaysOn>
  49.                     <updateRate>10</updateRate>
  50.                     <imageTopicName>rgb/image_raw</imageTopicName>
  51.                     <depthImageTopicName>depth/image_raw</depthImageTopicName>
  52.                     <pointCloudTopicName>depth/points</pointCloudTopicName>
  53.                     <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>
  54.                     <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>
  55.                     <frameName>${prefix}_frame_optical</frameName>
  56.                     <baseline>0.1</baseline>
  57.                     <distortion_k1>0.0</distortion_k1>
  58.                     <distortion_k2>0.0</distortion_k2>
  59.                     <distortion_k3>0.0</distortion_k3>
  60.                     <distortion_t1>0.0</distortion_t1>
  61.                     <distortion_t2>0.0</distortion_t2>
  62.                     <pointCloudCutoff>0.4</pointCloudCutoff>
  63.                 </plugin>
  64.             </sensor>
  65.         </gazebo>
  67.     </xacro:macro>
  68. </robot>

然后编写主体xacro文件

  1. cd ~/catkin_ws/src/mbot_desctiption/urdf/xacro/gazebo
  2. sudo gedit mbot_with_kinect_gazebo.xacro
  1. <?xml version="1.0"?>
  2. <robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
  4.     <xacro:include filename="$(find mbot_description)/urdf/xacro/gazebo/mbot_base_gazebo.xacro" />
  5.     <xacro:include filename="$(find mbot_description)/urdf/xacro/sensors/kinect_gazebo.xacro" />
  7.     <xacro:property name="kinect_offset_x" value="0.15" />
  8.     <xacro:property name="kinect_offset_y" value="0" />
  9.     <xacro:property name="kinect_offset_z" value="0.11" />
  11.     <mbot_base/>
  13.     <!-- kinect -->
  14.     <joint name="kinect_joint" type="fixed">
  15.         <origin xyz="${kinect_offset_x} ${kinect_offset_y} ${kinect_offset_z}" rpy="0 0 0" />
  16.         <parent link="base_link"/>
  17.         <child link="kinect_link"/>
  18.     </joint>
  20.     <xacro:kinect_camera prefix="kinect"/>
  22.     <xacro:mbot_base_gazebo/>
  24. </robot>

然后编写launch 启动文件

  1. cd ~/catkin_ws/src/mbot_description/launch/xacro/gazebo
  2. sudo gedit view_mbot_with_kinect_gazebo.launch
  1. <launch>
  3.     <!-- 设置launch文件的参数 -->
  4.     <arg name="world_name" value="$(find mbot_description)/worlds/Ambulance.world"/><!-- 设置仿真环境文件路径 -->
  5.     <arg name="paused" default="false"/>
  6.     <arg name="use_sim_time" default="true"/>
  7.     <arg name="gui" default="true"/>
  8.     <arg name="headless" default="false"/>
  9.     <arg name="debug" default="false"/>
  11.     <!-- 运行gazebo仿真环境 -->
  12.     <include file="$(find gazebo_ros)/launch/empty_world.launch">
  13.         <arg name="world_name" value="$(arg world_name)" />
  14.         <arg name="debug" value="$(arg debug)" />
  15.         <arg name="gui" value="$(arg gui)" />
  16.         <arg name="paused" value="$(arg paused)"/>
  17.         <arg name="use_sim_time" value="$(arg use_sim_time)"/>
  18.         <arg name="headless" value="$(arg headless)"/>
  19.     </include>
  21.     <!-- 加载机器人模型描述参数 -->
  22.     <param name="robot_description" command="$(find xacro)/xacro '$(find mbot_description)/urdf/xacro/gazebo/mbot_with_kinect_gazebo.xacro'" /> <!-- 设置机器人模型文件路径 -->
  24.     <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
  25.     <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> 
  27.     <!-- 运行robot_state_publisher节点，发布tf  -->
  28.     <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
  29.         <param name="publish_frequency" type="double" value="50.0" />
  30.     </node>
  32.     <!-- 在gazebo中加载机器人模型-->
  33.     <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
  34.           args="-urdf -model mrobot -param robot_description"/> 
  35. </launch>

运行后如下所示

查看kinect采集到的信息

  1. rosrun rviz rviz

注意：

首先固定框架（fixed frame)选择base_footprint

然后Add——robotmodel——ok

然后Add——pointcloud2——ok

然后pointcloud2——topic——/kinect/depth/points

以上就是本节内容，关于Gazebo物理仿真平台搭建已经全部完成。

问题解决：

1.gazebo--SpawnModel: Failure - model name mrobot already exists.

  1. roslaunch gazebo_ros empty_world.launch

在开启后的gazebo界面中选中mrobot模型delete删除即可

然后退出。

在上述模型创建且.world 保存前需要把机器人模型删除再保存，不然会出现模型重名报错。

  1. [ERROR] [1666006852.591762, 106.467000]: Spawn service failed. Exiting.
    [urdf_spawner-6] process has died [pid 35261, exit code 1, cmd     /opt/ros/noetic/lib/gazebo_ros/spawn_model -urdf -model mrobot -param robot_description __name:=urdf_spawner __log:=/home/q/.ros/log/89f24a6e-4e10-11ed-b861-1f202bd9bc85/urdf_spawner-6.log].
    log file: /home/q/.ros/log/89f24a6e-4e10-11ed-b861-1f202bd9bc85/urdf_spawner-6*.log

将所有gazebo进程关闭再重启即可

  1. killall gzserver
标签： ubuntu linux 运维
本文转载自: https://blog.csdn.net/LYY_WJL/article/details/127352386
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