Python 在露台上行走机器人

我想在gazebo中模拟下肢外骨骼（LLE）。我正试图让它在露台上移动一步。但它没有迈出一步。有趣的是，我看不到终端中有任何错误。我使用XML（xacro格式）描述机器人，启动控制文件，使用gazebo和python进行行走。 这是我的密码： 1.xacro文件：（lle_sample4.xacro）

四,。lle_示例_control2.launch：

<launch>

<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find lle_sample_control)/config/lle_sample_control2.yaml"/>

 <!-- load the controllers -->
 <node name="lle_sample_control2" pkg="controller_manager" type="spawner"   respawn="false"
   output="screen" ns="/lle_sample" args="--namespace=/lle_sample joint_state_controller joint_right_hip_position_controller joint_left_hip_position_controller joint_right_knee_position_controller joint_left_knee_position_controller --timeout 100"/>

  <!-- convert joint states to TF transforms for rviz, etc -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
 respawn="false" output="screen">=
  <remap from="/joint_states" to="/lle_sample/joint_states" />
 </node>
 </launch>

在一个终端中，我使用$roslaunch lle\u sample\u gazebo lle\u sample\u gazebo.launch 在另一个终端，我写$rosrun lle_sample_gazebo walker.py 当我点击播放按钮时，我看到“lle_示例步行器演示开始”，但露台中的模型是实心的

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

 <!-- Base Link -->
  <gazebo reference="base_link">
<kp>6000000.0</kp>
<kd>10000000.0</kd>
  <material>Gazebo/Red</material>
  </gazebo>

  <!-- Right Femur-->
 <gazebo reference="right_femur">
<kp>6000000.0</kp>
<kd>10000000.0</kd>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Green</material>
 </gazebo>

  <!-- Right Leg-->
  <gazebo reference="right_leg">
 <kp>6000000.0</kp>
 <kd>10000000.0</kd>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Blue</material>
  </gazebo>

  <!-- Right Foot -->
 <gazebo reference="right_foot">
    <material>Gazebo/Yellow</material>
 </gazebo>

 <!-- Left Femur-->
<gazebo reference="left_femur">
<kp>6000000.0</kp>
<kd>10000000.0</kd>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
<material>Gazebo/Green</material>
 </gazebo>

 <!-- Left Leg-->
 <gazebo reference="left_leg">
 <kp>6000000.0</kp>
 <kd>10000000.0</kd>
<mu1>0.2</mu1>
<mu2>0.2</mu2>
 <material>Gazebo/Blue</material>
 </gazebo>

<!-- Left foot-->
 <gazebo reference="left_foot">
<material>Gazebo/Yellow</material>
 </gazebo>

 </robot>

   lle_sample:
  # Publish all joint states -----------------------------------
   joint_state_controller:
    type: joint_state_controller/JointStateController
   publish_rate: 50 

  # Position Controllers ---------------------------------------
  joint_right_hip_position_controller:
   type: effort_controllers/JointPositionController
   joint: joint_right_hip
   pid: {p: 100.0, i: 0.01, d: 10.0}

 joint_right_knee_position_controller:
   type: effort_controllers/JointPositionController
   joint: joint_right_knee
   pid: {p: 100.0, i: 0.01, d: 10.0}

  joint_left_hip_position_controller:
   type: effort_controllers/JointPositionController
   joint: joint_left_hip
    pid: {p: 100.0, i: 0.01, d: 10.0}

 joint_left_knee_position_controller:
  type: effort_controllers/JointPositionController
  joint: joint_left_knee
  pid: {p: 100.0, i: 0.01, d: 10.0}

<launch>

<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find lle_sample_control)/config/lle_sample_control2.yaml"/>

 <!-- load the controllers -->
 <node name="lle_sample_control2" pkg="controller_manager" type="spawner"   respawn="false"
   output="screen" ns="/lle_sample" args="--namespace=/lle_sample joint_state_controller joint_right_hip_position_controller joint_left_hip_position_controller joint_right_knee_position_controller joint_left_knee_position_controller --timeout 100"/>

  <!-- convert joint states to TF transforms for rviz, etc -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
 respawn="false" output="screen">=
  <remap from="/joint_states" to="/lle_sample/joint_states" />
 </node>
 </launch>

<launch>
 <!-- We resume the logic in gazebo_ros package empty_world.launch, -->
 <!-- changing only the name of the world to be launched -->

<include file="$(find lle_sample_control)/launch/lle_sample_control2.launch" />

 <include file="$(find gazebo_ros)/launch/empty_world.launch">
  <arg name="world_name" value="worlds/empty.world"/>
<arg name="paused" value="true"/>


 </include>

  <!-- Load the URDF into the ROS Parameter Server -->
   <param name="robot_description"
 command="$(find xacro)/xacro.py '$(find lle_sample_description)/urdf/lle_sample4.xacro'" />

   <!-- Spawn lle_sample into Gazebo -->
  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
 args="-param robot_description -urdf -model lle_sample" />

  <node name="lle_sample_walker" pkg="lle_sample_gazebo" type="walker.py" />
</launch>

#!/usr/bin/env python

import rospy
 from  lle_sample_gazebo.lle_sample import LLE_sample


if __name__=="__main__":
rospy.init_node("walker_demo")

rospy.loginfo("Instantiating lle_sample Client")
lle_sample=LLE_sample()
rospy.sleep(1)

rospy.loginfo("lle_sample Walker Demo Starting")


lle_sample.set_walk_velocity(0.2,0,0)
rospy.sleep(3)
lle_sample.set_walk_velocity(1,0,0)
rospy.sleep(3)
lle_sample.set_walk_velocity(0,1,0)
rospy.sleep(3)
lle_sample.set_walk_velocity(0,-1,0)
rospy.sleep(3)
lle_sample.set_walk_velocity(-1,0,0)
rospy.sleep(3)
lle_sample.set_walk_velocity(0,0,0)

rospy.loginfo("lle_sample Walker Demo Finished")