Python 在露台和RViz中控制四轮机器人_Python_Simulation_Ros_Launch_Gazebo Simu

Python 在露台和RViz中控制四轮机器人

python

Python 在露台和RViz中控制四轮机器人,python,simulation,ros,launch,gazebo-simu,Python,Simulation,Ros,Launch,Gazebo Simu,我正试图让我的四轮机器人在模拟包Gazebo中移动，以及在RViz中移动我已经为Gazebo、Rviz和robot_control创建了必要的.launch文件，但仍然看不到任何与我的车轮接头相关的主题当我尝试启动控制器时，我收到以下警告/错误： [ WARN] [1583095864.913036340]: The root link base_link has an inertia specified in the URDF, but KDL does not support a roo

我正试图让我的四轮机器人在模拟包Gazebo中移动，以及在RViz中移动

我已经为Gazebo、Rviz和robot_control创建了必要的.launch文件，但仍然看不到任何与我的车轮接头相关的主题

当我尝试启动控制器时，我收到以下警告/错误：

[ WARN] [1583095864.913036340]: The root link base_link has an inertia specified in the URDF, but KDL does not support a root link with an inertia.  As a workaround, you can add an extra dummy link to your URDF.
[INFO] [1583095865.315061, 0.000000]: Controller Spawner: Waiting for service controller_manager/load_controller
0x1a2e560 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xfe3480) ): Attempt to set a screen on a child window.
0x1a22620 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xfe3480) ): Attempt to set a screen on a child window.
0x1a23560 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xfe3480) ): Attempt to set a screen on a child window.
0x1a2e9f0 void QWindowPrivate::setTopLevelScreen(QScreen*, bool) ( QScreen(0xfe3480) ): Attempt to set a screen on a child window.
[WARN] [1583095895.473658, 2216.849000]: Controller Spawner couldn't find the expected controller_manager ROS interface.

Gazebo.launch：

<launch>
  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="verbose" value="true" />
  </include>

  <node
    name="tf_footprint_base"
    pkg="tf"
    type="static_transform_publisher"
    args="0 0 0 0 0 0 base_link base_footprint 40" />


   <!--  ******************** Robot Model ********************  -->
<param name="robot_description" command="$(find xacro)/xacro --inorder '$(find robot)/urdf/robot.urdf'"/>

  <node
    name="spawn_model"
    pkg="gazebo_ros"
    type="spawn_model"
    args="-file $(find robot)/urdf/robot.urdf -urdf -model robot"
    output="screen" />

  <node
    name="fake_joint_calibration"
    pkg="rostopic"
    type="rostopic"
    args="pub /calibrated std_msgs/Bool true" />
</launch>

我可以在RViz和Gazebo中正确地看到我的模型，但无法在轮子上发出任何命令，因为没有主题存在。

好的，因此问题似乎出现在以下部分：

在URDF上，我需要添加一个虚拟链接：

以及一个连接到基础连杆的虚拟接头，作为父接头：

此外，在URDF中，我必须注释掉差速器驱动部分，因为一旦我定义了传动部分，就不需要它了。在robot_control.yaml中，我不得不注释掉速度控制器，因为位置控制器足以为机器人提供控制

<launch>
  <arg
    name="model" />
  <arg
    name="gui"
    default="False" />
  <param
    name="robot_description"
    textfile="$(find robot)/urdf/robot.urdf" />
  <param
    name="use_gui"
    value="$(arg gui)" />
  <node
    name="joint_state_publisher"
    pkg="joint_state_publisher"
    type="joint_state_publisher" />
  <node
    name="robot_state_publisher"
    pkg="robot_state_publisher"
    type="state_publisher" />
  <node
    name="rviz"
    pkg="rviz"
    type="rviz"
    args="-d $(find robot)/urdf.rviz" />
</launch>

<launch>

<!-- Get description of robot-->

<param name = 'robot_description' command="cat $(find robot)/urdf/robot.urdf" />


<!-- Send fake joint values -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <param name="use_gui" value="FALSE"/>
</node>

<!-- Show in Rviz-->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find robot)/urdf.rviz"/>


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

  <!-- 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" ns="/robot">
    <remap from="/joint_states" to="/robot/joint_states" />
  </node>

<!-- load the controllers -->
  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
    output="screen" ns="/robot" args="joint_state_controller FRJ_velocity_controller FLJ_velocity_controller BRJ_velocity_controller BLJ_velocity_controller FLJ_position_controller FRJ_position_controller BLJ_position_controller BRJ_position_controller "/>

</launch>

    <?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from robot.xacro                    | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <!--This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.5.1-0-g916b5db  Build Version: 1.5.7152.31018
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
  <link name="base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.00390777224516517 -0.032446267219719 0.184169550820421"/>
      <mass value="4.20121630268732"/>
      <inertia ixx="0.0149000386129946" ixy="-4.66831001352174E-09" ixz="5.23920338795194E-08" iyy="0.0234359493013497" iyz="0.000771538751024883" izz="0.0286744535302635"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/base_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.529411764705882 0.549019607843137 0.549019607843137 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/base_link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="FL">
    <inertial>
      <origin rpy="0 0 0" xyz="-5.55111512312578E-17 9.10729824887824E-18 -6.93889390390723E-18"/>
      <mass value="0.0615219544751675"/>
      <inertia ixx="5.54433425808419E-05" ixy="-1.45453466603006E-20" ixz="-1.00225538664655E-21" iyy="3.00921775305435E-05" iyz="2.309188417276E-21" izz="3.00921775305435E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/FL.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.298039215686275 0.298039215686275 0.298039215686275 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/FL.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="FLJ" type="continuous">
    <origin rpy="1.5707963267949 0 0" xyz="-0.162088045105054 0.0440194465480433 -0.0035605397876617"/>
    <parent link="base_link"/>
    <child link="FL"/>
    <axis xyz="-1 0 0"/>
  </joint>
  <link name="FR">
    <inertial>
      <origin rpy="0 0 0" xyz="2.77555756156289E-17 -5.3776427755281E-17 3.46944695195361E-17"/>
      <mass value="0.0615219544751675"/>
      <inertia ixx="5.54433425808419E-05" ixy="-1.73616162087809E-20" ixz="-8.97406720914896E-21" iyy="3.00921775305435E-05" iyz="-2.24902265994014E-21" izz="3.00921775305435E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/FR.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.298039215686275 0.298039215686275 0.298039215686275 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/FR.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="FRJ" type="continuous">
    <origin rpy="1.5707963267949 0 0" xyz="0.169947769597777 0.0440194465480434 -0.00356053978766185"/>
    <parent link="base_link"/>
    <child link="FR"/>
    <axis xyz="-1 0 0"/>
  </joint>
  <link name="BL">
    <inertial>
      <origin rpy="0 0 0" xyz="-5.55111512312578E-17 7.85396053748499E-16 -1.38777878078145E-17"/>
      <mass value="0.0615219544751675"/>
      <inertia ixx="5.54433425808419E-05" ixy="-5.54431358512462E-21" ixz="2.27097066282367E-22" iyy="3.00921775305435E-05" iyz="2.73146067339844E-21" izz="3.00921775305435E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/BL.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.298039215686275 0.298039215686275 0.298039215686275 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/BL.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="BLJ" type="continuous">
    <origin rpy="1.5707963267949 0 0" xyz="-0.162088045105054 -0.0759805534519569 -0.00356053978766179"/>
    <parent link="base_link"/>
    <child link="BL"/>
    <axis xyz="-1 0 0"/>
  </joint>
  <link name="BR">
    <inertial>
      <origin rpy="0 0 0" xyz="-8.32667268468867E-17 7.03430369508595E-16 2.77555756156289E-17"/>
      <mass value="0.0615219544751675"/>
      <inertia ixx="5.54433425808419E-05" ixy="-7.26178700863739E-21" ixz="-6.24920580783796E-21" iyy="3.00921775305435E-05" iyz="-3.51228039755728E-21" izz="3.00921775305435E-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/BR.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.298039215686275 0.298039215686275 0.298039215686275 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/BR.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="BRJ" type="continuous">
    <origin rpy="1.5708 0 0" xyz="0.16991 -0.075981 -0.0035605"/>
    <parent link="base_link"/>
    <child link="BR"/>
    <axis xyz="-1 0 0"/>
  </joint>
  <link name="TB">
    <inertial>
      <origin rpy="0 0 0" xyz="-7.8063E-18 1.3878E-17 0.001"/>
      <mass value="0.36807"/>
      <inertia ixx="0.00019523" ixy="7.0972E-20" ixz="-4.0656E-22" iyy="0.0026688" iyz="4.5169E-23" izz="0.0028638"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/TB.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.52941 0.54902 0.54902 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://robot/meshes/TB.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="TBJ" type="fixed">
    <origin rpy="0 0 0" xyz="0.003912 -0.086602 0.46844"/>
    <parent link="base_link"/>
    <child link="TB"/>
    <axis xyz="0 0 0"/>
  </joint>
  <!--             LIDAR                     -->
  <gazebo reference="hokuyo_link">
    <sensor name="head_hokuyo_sensor" type="ray">
      <pose> 0 0 0 0 0 0 </pose>
      <visualize>true</visualize>
      <update_rate>40</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>720</samples>
            <resolution>1</resolution>
            <min_angle>-1.57079</min_angle>
            <max_angle>1.57079</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.1</min>
          <max>30</max>
          <resolution>0.1</resolution>
        </range>
      </ray>
      <plugin filename="libgazebo_ros_laser.so" name="gazebo_ros_head_hokuyo_controller">
        <topicName>/scan</topicName>
        <frameName>hokuyo_link</frameName>
      </plugin>
    </sensor>
  </gazebo>
  <joint name="TB_Lidar" type="fixed">
    <axis xyz="0 1 0"/>
    <parent link="TB"/>
    <child link="hokuyo_link"/>
    <origin rpy="0 0 1.57079633" xyz="0 0 0.005"/>
  </joint>
  <!-- Hokuyo Laser -->
  <link name="hokuyo_link">
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.01 0.01 0.01"/>
      </geometry>
    </collision>
  </link>
  <!--                 Gazebo Ros Control Plugin                   -->
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <robotNamespace>/robot</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      <legacyModeNS>true</legacyModeNS>
    </plugin>
  </gazebo>
  <!--                 Gazebo Transmission                        -->
  <transmission name="FLT">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="motor1">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="FLJ">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <transmission name="FRT">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="motor2">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="FRJ">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <transmission name="BLT">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="motor3">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="BLJ">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <transmission name="BRT">
    <type>transmission_interface/SimpleTransmission</type>
    <actuator name="motor4">
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    <joint name="BRJ">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
  </transmission>
  <!--                Differential Drive          -->
  <gazebo>
    <plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
      <leftJoint>FLJ</leftJoint>
      <legacyMode>false</legacyMode>
      <rightJoint>FRJ</rightJoint>
      <robotBaseFrame>base_link</robotBaseFrame>
      <wheelSeperation>0.25</wheelSeperation>
      <wheelDiameter>0.07</wheelDiameter>
      <publishWheelJointState>true</publishWheelJointState>
    </plugin>
  </gazebo>
</robot>

/calibrated
/clicked_point
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/gazebo_gui/parameter_descriptions
/gazebo_gui/parameter_updates
/initialpose
/joint_states
/move_base_simple/goal
/robot/joint_states
/rosout
/rosout_agg
/scan
/tf
/tf_static