机器人编程趣味实践14-机器人三维仿真（Gazebo+TurtleBot3）

之前，介绍了节点、主题、服务和行动等基本概念，以及rqt和rosbag2等工具。

采用了官方改版的二维环境，那么现在玩耍一下更为逼真的三维仿真环境吧。

仿真软件Gazebo
机器人TurtleBot3

TurtleBot3支持仿真开发环境，可以在仿真中用虚拟机器人编程开发。有两种开发环境可以做到这一点，一种是使用带有 3D 可视化工具 RViz 的假节点，另一种是使用 3D 机器人模拟器 Gazebo。

假节点适合用机器人模型和运动进行测试，但不支持传感器。
如果需要执行 SLAM 或导航，Gazebo 将是一个可行的解决方案，因为它支持 IMU、LDS 和摄像头等传感器。

环境配置

# TURTLEBOT3_MODEL
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/home/zhangrelay/RobSoft/turtlebot3/src/simulations/turtlebot3_gazebo/models
export TURTLEBOT3_MODEL=burger# ROS2
source /opt/ros/foxy/setup.bash#colcon
source /usr/share/colcon_cd/function/colcon_cd.sh

源码编译

可以使用deb直接安装：

sudo apt install ros-foxy-turtlebot3-gazebo

注意包要装全。

这里，采用源码编译如下：

colcon build

功能包列表如上所示。

仿真实践

1 启动环境

ros2 launch turtlebot3_gazebo empty_world.launch.py

蓝色射线为激光的可视化效果。

empty_world.launch代码如下：

import osfrom ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfigurationTURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']def generate_launch_description():use_sim_time = LaunchConfiguration('use_sim_time', default='True')world_file_name = 'empty_worlds/' + TURTLEBOT3_MODEL + '.model'world = os.path.join(get_package_share_directory('turtlebot3_gazebo'),'worlds', world_file_name)launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')pkg_gazebo_ros = get_package_share_directory('gazebo_ros')return LaunchDescription([IncludeLaunchDescription(PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')),launch_arguments={'world': world}.items(),),IncludeLaunchDescription(PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')),),ExecuteProcess(cmd=['ros2', 'param', 'set', '/gazebo', 'use_sim_time', use_sim_time],output='screen'),IncludeLaunchDescription(PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']),launch_arguments={'use_sim_time': use_sim_time}.items(),),])

2 圆周运动

之前和之前二维环境圆周运动的指令非常类似哦。

ros2 topic pub --rate 2 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.8}}"

3 键盘遥控

使用如下命令启动键盘遥控：

ros2 run turtlebot3_teleop teleop_keyboard

键盘遥控代码如下：

import os
import select
import sys
import rclpyfrom geometry_msgs.msg import Twist
from rclpy.qos import QoSProfileif os.name == 'nt':import msvcrt
else:import termiosimport ttyBURGER_MAX_LIN_VEL = 0.22
BURGER_MAX_ANG_VEL = 2.84WAFFLE_MAX_LIN_VEL = 0.26
WAFFLE_MAX_ANG_VEL = 1.82LIN_VEL_STEP_SIZE = 0.01
ANG_VEL_STEP_SIZE = 0.1TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']msg = """
Control Your TurtleBot3!
---------------------------
Moving around:wa    s    dxw/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)space key, s : force stopCTRL-C to quit
"""e = """
Communications Failed
"""def get_key(settings):if os.name == 'nt':return msvcrt.getch().decode('utf-8')tty.setraw(sys.stdin.fileno())rlist, _, _ = select.select([sys.stdin], [], [], 0.1)if rlist:key = sys.stdin.read(1)else:key = ''termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)return keydef print_vels(target_linear_velocity, target_angular_velocity):print('currently:\tlinear velocity {0}\t angular velocity {1} '.format(target_linear_velocity,target_angular_velocity))def make_simple_profile(output, input, slop):if input > output:output = min(input, output + slop)elif input < output:output = max(input, output - slop)else:output = inputreturn outputdef constrain(input_vel, low_bound, high_bound):if input_vel < low_bound:input_vel = low_boundelif input_vel > high_bound:input_vel = high_boundelse:input_vel = input_velreturn input_veldef check_linear_limit_velocity(velocity):if TURTLEBOT3_MODEL == 'burger':return constrain(velocity, -BURGER_MAX_LIN_VEL, BURGER_MAX_LIN_VEL)else:return constrain(velocity, -WAFFLE_MAX_LIN_VEL, WAFFLE_MAX_LIN_VEL)def check_angular_limit_velocity(velocity):if TURTLEBOT3_MODEL == 'burger':return constrain(velocity, -BURGER_MAX_ANG_VEL, BURGER_MAX_ANG_VEL)else:return constrain(velocity, -WAFFLE_MAX_ANG_VEL, WAFFLE_MAX_ANG_VEL)def main():settings = Noneif os.name != 'nt':settings = termios.tcgetattr(sys.stdin)rclpy.init()qos = QoSProfile(depth=10)node = rclpy.create_node('teleop_keyboard')pub = node.create_publisher(Twist, 'cmd_vel', qos)status = 0target_linear_velocity = 0.0target_angular_velocity = 0.0control_linear_velocity = 0.0control_angular_velocity = 0.0try:print(msg)while(1):key = get_key(settings)if key == 'w':target_linear_velocity =\check_linear_limit_velocity(target_linear_velocity + LIN_VEL_STEP_SIZE)status = status + 1print_vels(target_linear_velocity, target_angular_velocity)elif key == 'x':target_linear_velocity =\check_linear_limit_velocity(target_linear_velocity - LIN_VEL_STEP_SIZE)status = status + 1print_vels(target_linear_velocity, target_angular_velocity)elif key == 'a':target_angular_velocity =\check_angular_limit_velocity(target_angular_velocity + ANG_VEL_STEP_SIZE)status = status + 1print_vels(target_linear_velocity, target_angular_velocity)elif key == 'd':target_angular_velocity =\check_angular_limit_velocity(target_angular_velocity - ANG_VEL_STEP_SIZE)status = status + 1print_vels(target_linear_velocity, target_angular_velocity)elif key == ' ' or key == 's':target_linear_velocity = 0.0control_linear_velocity = 0.0target_angular_velocity = 0.0control_angular_velocity = 0.0print_vels(target_linear_velocity, target_angular_velocity)else:if (key == '\x03'):breakif status == 20:print(msg)status = 0twist = Twist()control_linear_velocity = make_simple_profile(control_linear_velocity,target_linear_velocity,(LIN_VEL_STEP_SIZE / 2.0))twist.linear.x = control_linear_velocitytwist.linear.y = 0.0twist.linear.z = 0.0control_angular_velocity = make_simple_profile(control_angular_velocity,target_angular_velocity,(ANG_VEL_STEP_SIZE / 2.0))twist.angular.x = 0.0twist.angular.y = 0.0twist.angular.z = control_angular_velocitypub.publish(twist)except Exception as e:print(e)finally:twist = Twist()twist.linear.x = 0.0twist.linear.y = 0.0twist.linear.z = 0.0twist.angular.x = 0.0twist.angular.y = 0.0twist.angular.z = 0.0pub.publish(twist)if os.name != 'nt':termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)if __name__ == '__main__':main()

简单加入中文方便使用：

阅读源码非常重要。

4 节点

5 主题

6 服务

ros2 service list -t

/apply_joint_effort [gazebo_msgs/srv/ApplyJointEffort]
/apply_link_wrench [gazebo_msgs/srv/ApplyLinkWrench]
/clear_joint_efforts [gazebo_msgs/srv/JointRequest]
/clear_link_wrenches [gazebo_msgs/srv/LinkRequest]
/delete_entity [gazebo_msgs/srv/DeleteEntity]
/gazebo/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/gazebo/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/gazebo/get_parameters [rcl_interfaces/srv/GetParameters]
/gazebo/list_parameters [rcl_interfaces/srv/ListParameters]
/gazebo/set_parameters [rcl_interfaces/srv/SetParameters]
/gazebo/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
/get_model_list [gazebo_msgs/srv/GetModelList]
/pause_physics [std_srvs/srv/Empty]
/reset_simulation [std_srvs/srv/Empty]
/reset_world [std_srvs/srv/Empty]
/robot_state_publisher/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/robot_state_publisher/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/robot_state_publisher/get_parameters [rcl_interfaces/srv/GetParameters]
/robot_state_publisher/list_parameters [rcl_interfaces/srv/ListParameters]
/robot_state_publisher/set_parameters [rcl_interfaces/srv/SetParameters]
/robot_state_publisher/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
/rqt_gui_py_node_4338/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/rqt_gui_py_node_4338/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/rqt_gui_py_node_4338/get_parameters [rcl_interfaces/srv/GetParameters]
/rqt_gui_py_node_4338/list_parameters [rcl_interfaces/srv/ListParameters]
/rqt_gui_py_node_4338/set_parameters [rcl_interfaces/srv/SetParameters]
/rqt_gui_py_node_4338/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
/spawn_entity [gazebo_msgs/srv/SpawnEntity]
/teleop_keyboard/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/teleop_keyboard/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/teleop_keyboard/get_parameters [rcl_interfaces/srv/GetParameters]
/teleop_keyboard/list_parameters [rcl_interfaces/srv/ListParameters]
/teleop_keyboard/set_parameters [rcl_interfaces/srv/SetParameters]
/teleop_keyboard/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
/turtlebot3_diff_drive/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/turtlebot3_diff_drive/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/turtlebot3_diff_drive/get_parameters [rcl_interfaces/srv/GetParameters]
/turtlebot3_diff_drive/list_parameters [rcl_interfaces/srv/ListParameters]
/turtlebot3_diff_drive/set_parameters [rcl_interfaces/srv/SetParameters]
/turtlebot3_diff_drive/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
/turtlebot3_imu/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/turtlebot3_imu/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/turtlebot3_imu/get_parameters [rcl_interfaces/srv/GetParameters]
/turtlebot3_imu/list_parameters [rcl_interfaces/srv/ListParameters]
/turtlebot3_imu/set_parameters [rcl_interfaces/srv/SetParameters]
/turtlebot3_imu/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
/turtlebot3_joint_state/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/turtlebot3_joint_state/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/turtlebot3_joint_state/get_parameters [rcl_interfaces/srv/GetParameters]
/turtlebot3_joint_state/list_parameters [rcl_interfaces/srv/ListParameters]
/turtlebot3_joint_state/set_parameters [rcl_interfaces/srv/SetParameters]
/turtlebot3_joint_state/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
/turtlebot3_laserscan/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/turtlebot3_laserscan/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/turtlebot3_laserscan/get_parameters [rcl_interfaces/srv/GetParameters]
/turtlebot3_laserscan/list_parameters [rcl_interfaces/srv/ListParameters]
/turtlebot3_laserscan/set_parameters [rcl_interfaces/srv/SetParameters]
/turtlebot3_laserscan/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
/unpause_physics [std_srvs/srv/Empty]

7 行动

SLAM和导航时候再补充。

8 更多

可参考前13篇中对应案例，在此三维环境中进行实践哦。

总结

由二维环境到三维环境，仿真更炫酷，但是原理和指令几乎一样，学一招全掌控！

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