Gazebo安装配置

创建仿真环境

仿真使用

Rviz查看摄像头采集的信息

Kinect仿真

问题解决：

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

Gazebo安装配置

1.设置你的电脑来接收软件

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

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

3.安装Gazebo

sudo apt-get update
sudo apt-get install gazebo11
sudo apt-get install libgazebo11-dev

4.检查你的安装是否有效果=

gazebo

5.打开 /.gazebo文件夹下载模型

cd ~/.gazebo
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

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。

6.其他关联安装包（不定时更新）

sudo apt-get install ros-noetic-rvizsudo apt-get install ros-noetic-robot-state-publishersudo apt-get install ros-noetic-gazebo-ros-pkgs ros-noetic-gazebo-ros-controlsudo apt install ros-noetic-moveit

然后运行安装包索引

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

cd ~/catkin_ws/src/mbot_description/urdf/xacro
mkdir gazebo
cd gazebo
sudo gedit mbot_base_gazebo.xacro

编辑模型文件

<?xml version="1.0"?>
<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!--存放下面相关定义内容-->
</robot><!-- PROPERTY LIST --><xacro:property name="M_PI" value="3.1415926"/><xacro:property name="base_mass"   value="20" /> <xacro:property name="base_radius" value="0.20"/><xacro:property name="base_length" value="0.16"/><xacro:property name="wheel_mass"   value="2" /><xacro:property name="wheel_radius" value="0.06"/><xacro:property name="wheel_length" value="0.025"/><xacro:property name="wheel_joint_y" value="0.19"/><xacro:property name="wheel_joint_z" value="0.05"/><xacro:property name="caster_mass"    value="0.5" /> <xacro:property name="caster_radius"  value="0.015"/> <!-- wheel_radius - ( base_length/2 - wheel_joint_z) --><xacro:property name="caster_joint_x" value="0.18"/><!-- Defining the colors used in this robot --><material name="yellow"><color rgba="1 0.4 0 1"/></material><material name="black"><color rgba="0 0 0 0.95"/></material><material name="gray"><color rgba="0.75 0.75 0.75 1"/></material>
<!-- Macro for inertia matrix --><xacro:macro name="sphere_inertial_matrix" params="m r"><inertial><mass value="${m}" /><inertia ixx="${2*m*r*r/5}" ixy="0" ixz="0"iyy="${2*m*r*r/5}" iyz="0" izz="${2*m*r*r/5}" /></inertial></xacro:macro><xacro:macro name="cylinder_inertial_matrix" params="m r h"><inertial><mass value="${m}" /><inertia ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"iyy="${m*(3*r*r+h*h)/12}" iyz = "0"izz="${m*r*r/2}" /> </inertial></xacro:macro><!-- Macro for robot wheel --><xacro:macro name="wheel" params="prefix reflect"><joint name="${prefix}_wheel_joint" type="continuous"><origin xyz="0 ${reflect*wheel_joint_y} ${-wheel_joint_z}" rpy="0 0 0"/><parent link="base_link"/><child link="${prefix}_wheel_link"/><axis xyz="0 1 0"/></joint><link name="${prefix}_wheel_link"><visual><origin xyz="0 0 0" rpy="${M_PI/2} 0 0" /><geometry><cylinder radius="${wheel_radius}" length = "${wheel_length}"/></geometry><material name="gray" /></visual><!-- collision --><!-- the same with visual --><!--增加惯性属性和碰撞属性--><collision><origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />  <geometry><cylinder radius="${wheel_radius}" length = "${wheel_length}"/></geometry></collision><!-- inertial --><cylinder_inertial_matrix  m="${wheel_mass}" r="${wheel_radius}" h="${wheel_length}" />             </link><!--添加gazebo标签为各link配颜色 ，gazebo与rivz颜色设置不兼容--><!-- Add gazebo tag to link --><gazebo reference="${prefix}_wheel_link"><material>Gazebo/Gray</material>          </gazebo><!--joint添加传动装置,用得 transmission 标签,小车轮子用速度控制接口--><!-- Transmission is important to link the joints and the controller --><transmission name="${prefix}_wheel_joint_trans"><type>transmission_interface/SimpleTransmission</type><joint name="${prefix}_wheel_joint" ><hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface></joint><actuator name="${prefix}_wheel_joint_motor"><hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface><mechanicalReduction>1</mechanicalReduction></actuator></transmission></xacro:macro><!-- Macro for robot caster --><xacro:macro name="caster" params="prefix reflect"><joint name="${prefix}_caster_joint" type="continuous"><origin xyz="${reflect*caster_joint_x} 0 ${-(base_length/2 + caster_radius)}" rpy="0 0 0"/><parent link="base_link"/><child link="${prefix}_caster_link"/><axis xyz="0 1 0"/></joint><link name="${prefix}_caster_link"><visual><origin xyz="0 0 0" rpy="0 0 0"/><geometry><sphere radius="${caster_radius}" /></geometry><material name="black" /></visual><!-- 碰撞属性 --><collision><origin xyz="0 0 0" rpy="0 0 0"/><geometry><sphere radius="${caster_radius}" /></geometry></collision>  <!-- 惯性属性 --><sphere_inertial_matrix  m="${caster_mass}" r="${caster_radius}" /></link><!--添加gazebo标签,为各link配颜色--><gazebo reference="${prefix}_caster_link"><material>Gazebo/Black</material></gazebo></xacro:macro><xacro:macro name="mbot_base_gazebo"><link name="base_footprint"><visual><origin xyz="0 0 0" rpy="0 0 0" /><geometry><box size="0.001 0.001 0.001" /></geometry></visual></link><!-- 给 base_footprint 添加标签 --><gazebo reference="base_footprint"><turnGravityOff>false</turnGravityOff></gazebo><joint name="base_footprint_joint" type="fixed"><origin xyz="0 0 ${base_length/2 + caster_radius*2}" rpy="0 0 0" />        <parent link="base_footprint"/><child link="base_link" /></joint><!--base_link添加碰撞属性和惯性属性--><link name="base_link"><visual><origin xyz=" 0 0 0" rpy="0 0 0" /><geometry><cylinder length="${base_length}" radius="${base_radius}"/></geometry><material name="yellow" /></visual><collision><origin xyz=" 0 0 0" rpy="0 0 0" /><geometry><cylinder length="${base_length}" radius="${base_radius}"/></geometry></collision>   <cylinder_inertial_matrix  m="${base_mass}" r="${base_radius}" h="${base_length}" /></link><!--base_link添加gazebo标签--><gazebo reference="base_link"><material>Gazebo/Blue</material></gazebo><wheel prefix="left" reflect="-1"/> <!-- 调用驱动轮子宏定义 --><wheel prefix="right" reflect="1"/> <!-- 调用驱动轮子宏定义 --><caster prefix="front" reflect="-1"/> <!--调用支撑轮子宏定义--><caster prefix="back" reflect="1"/> <!-- 调用支撑轮子宏定义 --></xacro:macro><!-- controller --><gazebo><plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so"> <!-- gazebo提供得差速控制器插件 --><!-- 控制器所需参数 --><rosDebugLevel>Debug</rosDebugLevel><publishWheelTF>true</publishWheelTF><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--><publishTf>1</publishTf><publishWheelJointState>true</publishWheelJointState><alwaysOn>true</alwaysOn><updateRate>100.0</updateRate><legacyMode>true</legacyMode><leftJoint>left_wheel_joint</leftJoint> <!-- 控制得joint在哪里，必须和上面得joint名称一致 --><rightJoint>right_wheel_joint</rightJoint><!-- 控制得joint在哪里，必须和上面得joint名称一致 --><wheelSeparation>${wheel_joint_y*2}</wheelSeparation><!-- 两个轮子得间距 --><wheelDiameter>${2*wheel_radius}</wheelDiameter><broadcastTF>1</broadcastTF><wheelTorque>30</wheelTorque><wheelAcceleration>1.8</wheelAcceleration><commandTopic>cmd_vel</commandTopic> <!-- 订阅得话题：速度控制指令 --><odometryFrame>odom</odometryFrame> <odometryTopic>odom</odometryTopic> <!-- 发布里程计信息 --><robotBaseFrame>base_footprint</robotBaseFrame><!-- 设置controler所控制的机器人的坐标系是哪个坐标系 --></plugin></gazebo>

再编辑mbot_gazebo.xacro

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

编辑launch文件

cd ~/catkin_ws/src/mbot_description/launch/xacro
mkdir gazebo
cd gazebo
sudo gedit mbot_base_gazebo.launch

<launch><!-- 设置launch文件的参数 --><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"/><!-- 运行gazebo仿真环境 --><include file="$(find gazebo_ros)/launch/empty_world.launch"><arg name="debug" value="$(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><!-- 加载机器人模型描述参数 --><param name="robot_description" command="$(find xacro)/xacro --inorder '$(find mbot_description)/urdf/xacro/gazebo/mbot_gazebo.xacro'" /> <!-- 运行joint_state_publisher节点，发布机器人的关节状态  --><node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> <!-- 运行robot_state_publisher节点，发布tf  --><node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" ><param name="publish_frequency" type="double" value="50.0" /></node><!-- 在gazebo中加载机器人模型--><node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"args="-urdf -model mrobot -param robot_description"/>
</launch>

配置完成后运行显示模型

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

<?xml version="1.0"?>
<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro"><!-- PROPERTY LIST --><xacro:property name="M_PI" value="3.1415926"/><xacro:property name="base_mass"   value="20" /> <xacro:property name="base_radius" value="0.20"/><xacro:property name="base_length" value="0.16"/><xacro:property name="wheel_mass"   value="2" /><xacro:property name="wheel_radius" value="0.06"/><xacro:property name="wheel_length" value="0.025"/><xacro:property name="wheel_joint_y" value="0.19"/><xacro:property name="wheel_joint_z" value="0.05"/><xacro:property name="caster_mass"    value="0.5" /> <xacro:property name="caster_radius"  value="0.015"/> <!-- wheel_radius - ( base_length/2 - wheel_joint_z) --><xacro:property name="caster_joint_x" value="0.18"/><!-- Defining the colors used in this robot --><material name="yellow"><color rgba="1 0.4 0 1"/></material><material name="black"><color rgba="0 0 0 0.95"/></material><material name="gray"><color rgba="0.75 0.75 0.75 1"/></material><!-- Macro for inertia matrix --><xacro:macro name="sphere_inertial_matrix" params="m r"><inertial><mass value="${m}" /><inertia ixx="${2*m*r*r/5}" ixy="0" ixz="0"iyy="${2*m*r*r/5}" iyz="0" izz="${2*m*r*r/5}" /></inertial></xacro:macro><xacro:macro name="cylinder_inertial_matrix" params="m r h"><inertial><mass value="${m}" /><inertia ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"iyy="${m*(3*r*r+h*h)/12}" iyz = "0"izz="${m*r*r/2}" /> </inertial></xacro:macro><!-- Macro for robot wheel --><xacro:macro name="wheel" params="prefix reflect"><joint name="${prefix}_wheel_joint" type="continuous"><origin xyz="0 ${reflect*wheel_joint_y} ${-wheel_joint_z}" rpy="0 0 0"/><parent link="base_link"/><child link="${prefix}_wheel_link"/><axis xyz="0 1 0"/></joint><link name="${prefix}_wheel_link"><visual><origin xyz="0 0 0" rpy="${M_PI/2} 0 0" /><geometry><cylinder radius="${wheel_radius}" length = "${wheel_length}"/></geometry><material name="gray" /></visual><collision><origin xyz="0 0 0" rpy="${M_PI/2} 0 0" /><geometry><cylinder radius="${wheel_radius}" length = "${wheel_length}"/></geometry></collision><xacro:cylinder_inertial_matrix  m="${wheel_mass}" r="${wheel_radius}" h="${wheel_length}" /></link><gazebo reference="${prefix}_wheel_link"><material>Gazebo/Gray</material></gazebo><!-- Transmission is important to link the joints and the controller --><transmission name="${prefix}_wheel_joint_trans"><type>transmission_interface/SimpleTransmission</type><joint name="${prefix}_wheel_joint" ><hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface></joint><actuator name="${prefix}_wheel_joint_motor"><hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface><mechanicalReduction>1</mechanicalReduction></actuator></transmission></xacro:macro><!-- Macro for robot caster --><xacro:macro name="caster" params="prefix reflect"><joint name="${prefix}_caster_joint" type="continuous"><origin xyz="${reflect*caster_joint_x} 0 ${-(base_length/2 + caster_radius)}" rpy="0 0 0"/><parent link="base_link"/><child link="${prefix}_caster_link"/><axis xyz="0 1 0"/></joint><link name="${prefix}_caster_link"><visual><origin xyz="0 0 0" rpy="0 0 0"/><geometry><sphere radius="${caster_radius}" /></geometry><material name="black" /></visual><collision><origin xyz="0 0 0" rpy="0 0 0"/><geometry><sphere radius="${caster_radius}" /></geometry></collision>      <xacro:sphere_inertial_matrix  m="${caster_mass}" r="${caster_radius}" /></link><gazebo reference="${prefix}_caster_link"><material>Gazebo/Black</material></gazebo></xacro:macro><xacro:macro name="mbot_base_gazebo"><link name="base_footprint"><visual><origin xyz="0 0 0" rpy="0 0 0" /><geometry><box size="0.001 0.001 0.001" /></geometry></visual></link><gazebo reference="base_footprint"><turnGravityOff>false</turnGravityOff></gazebo><joint name="base_footprint_joint" type="fixed"><origin xyz="0 0 ${base_length/2 + caster_radius*2}" rpy="0 0 0" />        <parent link="base_footprint"/><child link="base_link" /></joint><link name="base_link"><visual><origin xyz=" 0 0 0" rpy="0 0 0" /><geometry><cylinder length="${base_length}" radius="${base_radius}"/></geometry><material name="yellow" /></visual><collision><origin xyz=" 0 0 0" rpy="0 0 0" /><geometry><cylinder length="${base_length}" radius="${base_radius}"/></geometry></collision>   <xacro:cylinder_inertial_matrix  m="${base_mass}" r="${base_radius}" h="${base_length}" /></link><gazebo reference="base_link"><material>Gazebo/Blue</material></gazebo><xacro:wheel prefix="left"  reflect="-1"/><xacro:wheel prefix="right" reflect="1"/><xacro:caster prefix="front" reflect="-1"/><xacro:caster prefix="back"  reflect="1"/><!-- controller --><gazebo><plugin name="differential_drive_controller" filename="libgazebo_ros_diff_drive.so"><rosDebugLevel>Debug</rosDebugLevel><publishWheelTF>true</publishWheelTF><robotNamespace>/</robotNamespace><publishTf>1</publishTf><publishWheelJointState>true</publishWheelJointState><alwaysOn>true</alwaysOn><updateRate>100.0</updateRate><legacyMode>true</legacyMode><leftJoint>left_wheel_joint</leftJoint><rightJoint>right_wheel_joint</rightJoint><wheelSeparation>${wheel_joint_y*2}</wheelSeparation><wheelDiameter>${2*wheel_radius}</wheelDiameter><broadcastTF>1</broadcastTF><wheelTorque>30</wheelTorque><wheelAcceleration>1.8</wheelAcceleration><commandTopic>cmd_vel</commandTopic><odometryFrame>odom</odometryFrame> <odometryTopic>odom</odometryTopic> <robotBaseFrame>base_footprint</robotBaseFrame></plugin></gazebo> </xacro:macro></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

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

<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

<launch><!-- 设置launch文件的参数 --><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"/><!-- 运行gazebo仿真环境 --><include file="$(find gazebo_ros)/launch/empty_world.launch"><arg name="debug" value="$(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><!-- 加载机器人模型描述参数 --><param name="robot_description" command="$(find xacro)/xacro '$(find mbot_description)/urdf/xacro/gazebo/mbot_gazebo.xacro'" /> <!-- 运行joint_state_publisher节点，发布机器人的关节状态  --><node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> <!-- 运行robot_state_publisher节点，发布tf  --><node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" ><param name="publish_frequency" type="double" value="50.0" /></node><!-- 在gazebo中加载机器人模型--><node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"args="-urdf -model mrobot -param robot_description"/>
</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）

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

    <!-- 设置launch文件的参数 --><arg name="world_name" value="$(find mbot_description)/worlds/Ambulance.world"/><!-- 要加入的部分 --><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"/>

传感器仿真

cd ~/catkin_ws/src/mbot_description/urdf/xacro
mkdir sensors
cd sensors
sudo gedit camera_gazebo.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="camera"><xacro:macro name="usb_camera" params="prefix:=camera"><link name="${prefix}_link"><inertial><mass value="0.1" /><origin xyz="0 0 0" /><inertia ixx="0.01" ixy="0.0" ixz="0.0"iyy="0.01" iyz="0.0"izz="0.01" /></inertial><visual><origin xyz=" 0 0 0 " rpy="0 0 0" /><geometry><box size="0.01 0.04 0.04" /></geometry><material name="black"/></visual><collision><origin xyz="0.0 0.0 0.0" rpy="0 0 0" /><geometry><box size="0.01 0.04 0.04" /></geometry></collision></link><gazebo reference="${prefix}_link"><material>Gazebo/Black</material></gazebo><gazebo reference="${prefix}_link"> <!-- 这个sensor代表的link --><sensor type="camera" name="camera_node"><update_rate>30.0</update_rate><!-- 摄像头发布频率 --><camera name="head"><horizontal_fov>1.3962634</horizontal_fov><!-- 摄像头可视范围 --><image><width>1280</width><!-- 摄像头分辨率 --><height>720</height><!-- 摄像头分辨率 --><format>R8G8B8</format><!-- 摄像头数据格式 --></image><clip><near>0.02</near><!-- 最近距离 --><far>300</far><!-- 最远距离 --></clip><noise><type>gaussian</type><!-- 摄像头高斯噪声 --><mean>0.0</mean><stddev>0.007</stddev></noise></camera><plugin name="gazebo_camera" filename="libgazebo_ros_camera.so"><!-- 加载插件，实现摄像头功能 --><alwaysOn>true</alwaysOn><updateRate>0.0</updateRate><cameraName>/camera</cameraName><!-- 命名空间 --><imageTopicName>image_raw</imageTopicName><!-- 发布图片信息话题名称 --><cameraInfoTopicName>camera_info</cameraInfoTopicName><!-- 发布摄像头信息话题名称 --><frameName>camera_link</frameName><!-- 数据的坐标系统 --><hackBaseline>0.07</hackBaseline><distortionK1>0.0</distortionK1><distortionK2>0.0</distortionK2><distortionK3>0.0</distortionK3><distortionT1>0.0</distortionT1><distortionT2>0.0</distortionT2></plugin></sensor></gazebo></xacro:macro>
</robot>

cd ~/catkin_ws/src/mbot_description/urdf/xacro/gazebo
sudo gedit mbot_with_camera_gazebo.xacro

在文件中写入以下内容即可

<?xml version="1.0"?>
<robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro"><xacro:include filename="$(find mbot_description)/urdf/xacro/gazebo/mbot_base_gazebo.xacro" /><xacro:include filename="$(find mbot_description)/urdf/xacro/sensors/camera_gazebo.xacro" /><xacro:property name="camera_offset_x" value="0.17" /><xacro:property name="camera_offset_y" value="0" /><xacro:property name="camera_offset_z" value="0.10" /><mbot_base/><!-- Camera --><joint name="camera_joint" type="fixed"><origin xyz="${camera_offset_x} ${camera_offset_y} ${camera_offset_z}" rpy="0 0 0" /><parent link="base_link"/><child link="camera_link"/></joint><xacro:usb_camera prefix="camera"/><xacro:mbot_base_gazebo/></robot>

带摄像头的机器人launch启动文件的编写

cd ~/catkin_ws/src/mbot_description/launch/xacro/gazebo
sudo gedit view_mbot_with_camera_gazebo.launch

<launch><arg name="world_name" value="$(find mbot_description)/worlds/Ambulance.world"/><arg name="paused" default="false"/><arg name="use_sim_time" default="true"/><arg name="gui" default="true"/><arg name="headless" default="false"/><arg name="debug" default="false"/><include file="$(find gazebo_ros)/launch/empty_world.launch"><arg name="world_name" value="$(arg world_name)" /><arg name="debug" value="$(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><param name="robot_description" command="$(find xacro)/xacro '$(find mbot_description)/urdf/xacro/gazebo/mbot_with_camera_gazebo.xacro'" /> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" ><param name="publish_frequency" type="double" value="50.0" /></node><node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"args="-urdf -model mrobot -param robot_description"/> </launch>

然后运行显示模型

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

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

rqt_image_view

注意摄像头参数选定

启用键盘控制

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

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

cd ~/carkin_ws/src
git clone https://github.com/ros-teleop/teleop_twist_keyboard.git
//然后启用即可
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

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

cd ~/catkin_ws/src/mbot_description/urdf/xacro/sensors
sudo gedit lidar_gazebo.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="laser"><xacro:macro name="rplidar" params="prefix"><!-- Create laser reference frame --><link name="${prefix}_link"><inertial><mass value="0.1" /><origin xyz="0 0 0" /><inertia ixx="0.01" ixy="0.0" ixz="0.0"iyy="0.01" iyz="0.0"izz="0.01" /></inertial><visual><origin xyz=" 0 0 0 " rpy="0 0 0" /><geometry><cylinder length="0.05" radius="0.05"/></geometry><material name="black"/></visual><collision><origin xyz="0.0 0.0 0.0" rpy="0 0 0" /><geometry><cylinder length="0.06" radius="0.05"/></geometry></collision></link><gazebo reference="${prefix}_link"><material>Gazebo/Black</material></gazebo><gazebo reference="${prefix}_link"><sensor type="ray" name="rplidar"><pose>0 0 0 0 0 0</pose><visualize>false</visualize><update_rate>5.5</update_rate><ray><scan><horizontal><samples>360</samples><resolution>1</resolution><min_angle>-3</min_angle><max_angle>3</max_angle></horizontal></scan><range><min>0.10</min><max>6.0</max><resolution>0.01</resolution></range><noise><type>gaussian</type><mean>0.0</mean><stddev>0.01</stddev></noise></ray><plugin name="gazebo_rplidar" filename="libgazebo_ros_laser.so"><topicName>/scan</topicName><frameName>laser_link</frameName></plugin></sensor></gazebo></xacro:macro>
</robot>

然后编写主体xacro文件

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

内容如下所示

<?xml version="1.0"?>
<robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro"><xacro:include filename="$(find mbot_description)/urdf/xacro/gazebo/mbot_base_gazebo.xacro" /><xacro:include filename="$(find mbot_description)/urdf/xacro/sensors/lidar_gazebo.xacro" /><xacro:property name="lidar_offset_x" value="0" /><xacro:property name="lidar_offset_y" value="0" /><xacro:property name="lidar_offset_z" value="0.105" /><!-- lidar --><joint name="lidar_joint" type="fixed"><origin xyz="${lidar_offset_x} ${lidar_offset_y} ${lidar_offset_z}" rpy="0 0 0" /><parent link="base_link"/><child link="laser_link"/></joint><xacro:rplidar prefix="laser"/><xacro:mbot_base_gazebo/>
</robot>

然后编写launch 启动文件

cd ~/catkin_ws/src/mbot_description/launch/xacro/gazebo
sudo gedit view_mbot_with_laser_gazebo.launch

<launch><arg name="world_name" value="$(find mbot_description)/worlds/Ambulance.world"/><arg name="paused" default="false"/><arg name="use_sim_time" default="true"/><arg name="gui" default="true"/><arg name="headless" default="false"/><arg name="debug" default="false"/><include file="$(find gazebo_ros)/launch/empty_world.launch"><arg name="world_name" value="$(arg world_name)" /><arg name="debug" value="$(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><param name="robot_description" command="$(find xacro)/xacro '$(find mbot_description)/urdf/xacro/gazebo/mbot_with_laser_gazebo.xacro'" /><node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" ><param name="publish_frequency" type="double" value="50.0" /></node><node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"args="-urdf -model mrobot -param robot_description"/>
</launch>

激光雷达正常显示

然后启用键盘控制

roslaunch mbot_teleop mbot_teleop.launch

rviz查看雷达采集信息

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

cd ~/catkin_ws/src/mbot_description/urdf/xacro/sensors
sudo gedit kinect_gazebo.xacro

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="kinect_camera"><xacro:macro name="kinect_camera" params="prefix:=camera"><!-- Create kinect reference frame --><!-- Add mesh for kinect --><link name="${prefix}_link"><origin xyz="0 0 0" rpy="0 0 0"/><visual><origin xyz="0 0 0" rpy="0 0 ${M_PI/2}"/><geometry><mesh filename="package://mbot_description/meshes/kinect.dae" /></geometry></visual><collision><geometry><box size="0.07 0.3 0.09"/></geometry></collision></link><joint name="${prefix}_optical_joint" type="fixed"><origin xyz="0 0 0" rpy="-1.5708 0 -1.5708"/><parent link="${prefix}_link"/><child link="${prefix}_frame_optical"/></joint><link name="${prefix}_frame_optical"/><gazebo reference="${prefix}_link"><sensor type="depth" name="${prefix}"><always_on>true</always_on><update_rate>20.0</update_rate><camera><horizontal_fov>${60.0*M_PI/180.0}</horizontal_fov><image><format>R8G8B8</format><width>640</width><height>480</height></image><clip><near>0.05</near><far>8.0</far></clip></camera><plugin name="kinect_${prefix}_controller" filename="libgazebo_ros_openni_kinect.so"><cameraName>${prefix}</cameraName><alwaysOn>true</alwaysOn><updateRate>10</updateRate><imageTopicName>rgb/image_raw</imageTopicName><depthImageTopicName>depth/image_raw</depthImageTopicName><pointCloudTopicName>depth/points</pointCloudTopicName><cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName><depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName><frameName>${prefix}_frame_optical</frameName><baseline>0.1</baseline><distortion_k1>0.0</distortion_k1><distortion_k2>0.0</distortion_k2><distortion_k3>0.0</distortion_k3><distortion_t1>0.0</distortion_t1><distortion_t2>0.0</distortion_t2><pointCloudCutoff>0.4</pointCloudCutoff></plugin></sensor></gazebo></xacro:macro>
</robot>

然后编写主体xacro文件

cd ~/catkin_ws/src/mbot_desctiption/urdf/xacro/gazebo
sudo gedit mbot_with_kinect_gazebo.xacro

<?xml version="1.0"?>
<robot name="arm" xmlns:xacro="http://www.ros.org/wiki/xacro"><xacro:include filename="$(find mbot_description)/urdf/xacro/gazebo/mbot_base_gazebo.xacro" /><xacro:include filename="$(find mbot_description)/urdf/xacro/sensors/kinect_gazebo.xacro" /><xacro:property name="kinect_offset_x" value="0.15" /><xacro:property name="kinect_offset_y" value="0" /><xacro:property name="kinect_offset_z" value="0.11" /><mbot_base/><!-- kinect --><joint name="kinect_joint" type="fixed"><origin xyz="${kinect_offset_x} ${kinect_offset_y} ${kinect_offset_z}" rpy="0 0 0" /><parent link="base_link"/><child link="kinect_link"/></joint><xacro:kinect_camera prefix="kinect"/><xacro:mbot_base_gazebo/></robot>

然后编写launch 启动文件

cd ~/catkin_ws/src/mbot_description/launch/xacro/gazebo
sudo gedit view_mbot_with_kinect_gazebo.launch

<launch><!-- 设置launch文件的参数 --><arg name="world_name" value="$(find mbot_description)/worlds/Ambulance.world"/><!-- 设置仿真环境文件路径 --><arg name="paused" default="false"/><arg name="use_sim_time" default="true"/><arg name="gui" default="true"/><arg name="headless" default="false"/><arg name="debug" default="false"/><!-- 运行gazebo仿真环境 --><include file="$(find gazebo_ros)/launch/empty_world.launch"><arg name="world_name" value="$(arg world_name)" /><arg name="debug" value="$(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><!-- 加载机器人模型描述参数 --><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 --><!-- 运行joint_state_publisher节点，发布机器人的关节状态  --><node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> <!-- 运行robot_state_publisher节点，发布tf  --><node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" ><param name="publish_frequency" type="double" value="50.0" /></node><!-- 在gazebo中加载机器人模型--><node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"args="-urdf -model mrobot -param robot_description"/>
</launch>

运行后如下所示

查看kinect采集到的信息

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.

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。

2. [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

killall gzserver

Gazebo——仿真平台搭建(基于Ubuntu20.04）相关推荐

MIT Mini Cheetah–开源代码仿真环境搭建记录(Ubuntu20.04)
MIT Mini Cheetah–开源代码仿真环境搭建记录(Ubuntu20.04) 一．安装依赖包 sudo apt install mesa-common-dev freeglut3-dev co ...
HustOJ平台搭建（ubuntu20.04）
hustoj是一个出色的开源项目,本文章记录了我在ubuntu20.04搭建的全过程,以及小部分进行修改.不会部署的同学可以参照我这篇文章,可以完美运行.当然如果您需要部署在您的linux环境下,同时 ...
matlab火箭模型,基于Matlab/Simulink的新型火箭建模与仿真平台搭建
2018 年 11 月第 14 卷第 4 期系统仿真技术 System Simulation Technology Nov． ,2018 Vol． 14,No． 4 中图分类号: TP3 ...
Gazebo仿真平台模型搭建与修改
ROS进阶教程(一)Gazebo仿真平台模型搭建与修改文件讲解 Models 文件 World文件 Launch文件模型编辑可视化操作配置文件编辑仿真操作流程完成model建模 world ...
基于Ubuntu20.04 GTX960m搭建cudacunn
基于Ubuntu20.04 GTX960搭建TensorFlow 基础: 获取电脑的显卡驱动型号 CUNN的配置基础: PC:ubuntu 20.04 显卡:GTX 960m 获取电脑的显卡驱动型号 ...
[UAV] 无人机仿真平台搭建
[Amovlab] 开源项目从0开始的无人机仿真平台搭建 1. 基础环境 1.1 新建本地代码仓库 1.2 编译添加路径(记得将Path To Prometheus替换成你的文件路径) 1.3 ...
ROS学习（3）——仿真平台搭建
最近需要学习多机器人协同控制的相关知识,在古月居看到博主小黑鸭的文章,和我学习的内容很相似,实验室里用的移动机器人都是ROBOTIS公司的Turtlebot3,就参考博主的文章进行了学习. 参考文章: ...
百度Apollo仿真仿真平台搭建-附1
百度Apollo仿真仿真平台搭建-附1 1 Apollo版本升级 2 参考书籍 3 运行Apollo仿真代码 1 Apollo版本升级 Apollo由版本V3.5升级到V6.0(Ubuntu18.04 ...
【ROS仿真实战】Gazebo仿真平台介绍及安装方法（一）
文章目录前言一.Gazebo简介二.Gazebo仿真平台的基本概念三.Gazebo仿真平台的安装方法四.总结前言 Gazebo仿真平台是一个广泛应用于机器人研发.测试和教育等领域的开源软件 ...

Gazebo——仿真平台搭建(基于Ubuntu20.04）

Gazebo安装配置

创建仿真环境

仿真使用

Rviz查看摄像头采集的信息

Kinect仿真

问题解决：

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

Gazebo——仿真平台搭建(基于Ubuntu20.04）相关推荐

最新文章

热门文章