本笔记主要基于代码:https://github.com/ros-simulation/gazebo_ros_demos
1、gazebo_tutorials
这是一个gazebo plugin的简单教程,它的源文件如下:
#include <gazebo/common/Plugin.hh>
#include <ros/ros.h>
namespace gazebo
{
//所继承的plugin类型为WorldPlugin
class WorldPluginTutorial : public WorldPlugin
{
public:
WorldPluginTutorial() : WorldPlugin()
{
// Make sure the ROS node for Gazebo has already been initialized
if (!ros::isInitialized())
{
ROS_FATAL_STREAM("A ROS node for Gazebo has not been initialized, unable to load plugin. "
<< "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
return;
}
ROS_INFO("Hello World!");
}
//用于加载sdf配置文件
void Load(physics::WorldPtr _world, sdf::ElementPtr _sdf)
{
}
};
//注册插件
GZ_REGISTER_WORLD_PLUGIN(WorldPluginTutorial)
}
- 在
CMakeLists.txt
和package.xml
文件中也需要添加gazebo_ros的相关配置。
它的launch
文件如下:
<launch>
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find gazebo_tutorials)/worlds/hello.world"/>
<!-- more default parameters can be changed here -->
</include>
</launch>
- 这里
hello.world
仍旧使用了empty.world
的内容,但是通过添加:
<plugin name="gazebo_tutorials" filename="libgazebo_tutorials.so"/>
将该文件指向gazebo_tutorials
插件。
2、rrbot_control
这是一个双旋转关节机器人的控制。
它的launch
文件如下:
<launch>
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find rrbot_control)/config/rrbot_control.yaml" command="load"/>
<!-- 生成一组控制器 -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
output="screen" ns="/rrbot" args="joint_state_controller
joint1_position_controller
joint2_position_controller"/>
<!-- convert joint states to TF transforms for rviz, etc -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
respawn="false" output="screen">
<remap from="/joint_states" to="/rrbot/joint_states" />
</node>
</launch>
- 控制命令:
rostopic pub /rrbot/joint2_position_controller/command std_msgs/Float64 "data: -0.9"
3、rrbot_description
这里会在Rviz
中显示一个rrbot,并且可以通过GUI调整关节角。
它的launch
文件如下:
<launch>
<!-- 用于自动生成urdf文件,命令一般为:xacro --inorder model.xacro > model.urdf -->
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(find rrbot_description)/urdf/rrbot.xacro'" />
<!-- 用于发布sensor_msgs/JointState topic -->
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
<param name="use_gui" value="TRUE"/>
</node>
<!-- 从上面的topic中计算tf,这两个pkg都可以通过ROS安装 -->
<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
<!-- 启动Rviz -->
<node name="rviz" pkg="rviz" type="rviz" args="-d $(find rrbot_description)/launch/rrbot.rviz"/>
</launch>
4、rrbot_gazebo
在gazebo
中显示rrbot
它的launch文件如下:
<launch>
<!-- these are the arguments you can pass this launch file, for example paused:=true -->
<arg name="paused" default="false"/>
<arg name="use_sim_time" default="true"/>
<arg name="gui" default="true"/>
<arg name="headless" default="false"/>
<arg name="debug" default="false"/>
<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find rrbot_gazebo)/worlds/rrbot.world"/>
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="paused" value="$(arg paused)"/>
<arg name="use_sim_time" value="$(arg use_sim_time)"/>
<arg name="headless" value="$(arg headless)"/>
</include>
<!-- Load the URDF into the ROS Parameter Server -->
<param name="robot_description"
command="$(find xacro)/xacro --inorder '$(find rrbot_description)/urdf/rrbot.xacro'" />
<!-- 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 rrbot -param robot_description"/>
<!-- 启动ros_control-->
<!--include file="$(find rrbot_control)/launch/rrbot_control.launch" /-->
</launch>
这里运行ros_control都没有反应,现在忙其他事去了,以后有缘再更~