gazebo仿真第一个例程，单自由度机器人
刘志通
commit
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cmake_minimum_required(VERSION 2.8.3)
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project(gazebo_demo)
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add_compile_options(-std=c++11)
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find_package(catkin REQUIRED)
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catkin_package()
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find_package(catkin REQUIRED COMPONENTS
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roslaunch
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controller_manager
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gazebo_ros
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gazebo_ros_control
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joint_state_publisher
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robot_state_publisher
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roscpp
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rospy
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rviz
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xacro
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kdl_parser
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tf
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sensor_msgs
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std_msgs
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trac_ik_lib
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serial
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)
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include_directories(
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include
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${catkin_INCLUDE_DIRS}
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${orocos_kdl_INCLUDE_DIRS}
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)
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add_executable(gazebo_demo src/gazebo_demo.cpp)
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target_link_libraries(gazebo_demo ${catkin_LIBRARIES} ${orocos_kdl_LIBRARIES})
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foreach(dir config launch meshes urdf)
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install(DIRECTORY ${dir}/
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DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}/${dir})
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endforeach(dir)
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gazebo_demo:
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# Publish all joint states -----------------------------------
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joint_state_controller:
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type: joint_state_controller/JointStateController
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publish_rate: 50
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# Position Controllers ---------------------------------------
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joint1_position_controller:
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type: position_controllers/JointPositionController
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joint: joint_1
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#pid: {p: 100.0, i: 0.01, d: 10.0}
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gazebo_demo/gazebo_ros_control/pid_gains:
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joint_1: {p: 100.0, i: 0.0, d: 10.0}
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File diff suppressed because one or more lines are too long
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<launch>
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<arg
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name="model" />
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<arg
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name="gui"
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default="False" />
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<param
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name="robot_description"
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textfile="$(find gazebo_demo)/urdf/gazebo_demo.urdf" />
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<param
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name="use_gui"
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value="$(arg gui)" />
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<node
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name="joint_state_publisher"
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pkg="joint_state_publisher"
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type="joint_state_publisher" />
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<node
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name="robot_state_publisher"
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pkg="robot_state_publisher"
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type="state_publisher" />
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<node
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name="rviz"
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pkg="rviz"
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type="rviz"
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args="-d $(find gazebo_demo)/urdf.rviz" />
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</launch>
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<launch>
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<param name="robot_description" command="$(find xacro)/xacro $(find gazebo_demo)/urdf/gazebo_demo.urdf.xacro" />
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<!-- these are the arguments you can pass this launch file, for example paused:=true -->
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<arg name="paused" default="false"/>
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<arg name="use_sim_time" default="true"/>
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<arg name="gui" default="true"/>
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<arg name="headless" default="false"/>
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<arg name="debug" default="false"/>
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<!-- We resume the logic in empty_world.launch, changing only the name of the world to be launched -->
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<include file="$(find gazebo_ros)/launch/empty_world.launch">
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<arg name="world_name" value="$(find gazebo_demo)/worlds/gazebo_demo.world"/>
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<arg name="debug" value="$(arg debug)" />
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<arg name="gui" value="$(arg gui)" />
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<arg name="paused" value="$(arg paused)"/>
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<arg name="use_sim_time" value="$(arg use_sim_time)"/>
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<arg name="headless" value="$(arg headless)"/>
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</include>
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<node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
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args="-urdf -model myrobot -param robot_description"/>
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<rosparam file="$(find gazebo_demo)/config/joint_names_gazebo_demo.yaml" command="load"/>
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<node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
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output="screen" ns="/gazebo_demo" args="joint1_position_controller"/>
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"
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respawn="false" output="screen">
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<remap from="/joint_states" to="/gazebo_demo/joint_states" />
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</node>
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</launch>
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<package format="2">
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<name>gazebo_demo</name>
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<version>1.0.0</version>
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<description>
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<p>URDF Description package for gazebo_demo</p>
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<p>This package contains configuration data, 3D models and launch files
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for gazebo_demo robot</p>
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</description>
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<author>TODO</author>
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<maintainer email="TODO@email.com" />
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<license>BSD</license>
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<buildtool_depend>catkin</buildtool_depend>
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<depend>roslaunch</depend>
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<depend>robot_state_publisher</depend>
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<depend>rviz</depend>
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<depend>joint_state_publisher</depend>
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<depend>gazebo</depend>
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<export>
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<architecture_independent />
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</export>
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</package>
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#include "ros/ros.h"
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#include "std_msgs/Float64.h"
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#include <sstream>
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int main(int argc, char *argv[])
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{
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setlocale(LC_ALL,"");
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ros::init(argc,argv,"control_gazebo_demo");
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ros::NodeHandle nh;
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ros::Publisher pub = nh.advertise<std_msgs::Float64>("/gazebo_demo/joint1_position_controller/command",10);
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std_msgs::Float64 control_gazebo_demo;
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control_gazebo_demo.data=0.0;
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bool flag=0;//0weizeng 1weijian
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ros::Rate r(50);
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while (ros::ok())
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{
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for(control_gazebo_demo.data=0.0;control_gazebo_demo.data<=1.5;control_gazebo_demo.data+=0.01)
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{
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pub.publish(control_gazebo_demo);
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ROS_INFO("发送的消息:%f",control_gazebo_demo);
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r.sleep();
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}
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for(control_gazebo_demo.data=1.5;control_gazebo_demo.data>=0.0;control_gazebo_demo.data-=0.01)
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{
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pub.publish(control_gazebo_demo);
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ROS_INFO("发送的消息:%f",control_gazebo_demo);
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r.sleep();
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}
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ros::spinOnce();
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}
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return 0;
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}
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Link Name,Center of Mass X,Center of Mass Y,Center of Mass Z,Center of Mass Roll,Center of Mass Pitch,Center of Mass Yaw,Mass,Moment Ixx,Moment Ixy,Moment Ixz,Moment Iyy,Moment Iyz,Moment Izz,Visual X,Visual Y,Visual Z,Visual Roll,Visual Pitch,Visual Yaw,Mesh Filename,Color Red,Color Green,Color Blue,Color Alpha,Collision X,Collision Y,Collision Z,Collision Roll,Collision Pitch,Collision Yaw,Collision Mesh Filename,Material Name,SW Components,Coordinate System,Axis Name,Joint Name,Joint Type,Joint Origin X,Joint Origin Y,Joint Origin Z,Joint Origin Roll,Joint Origin Pitch,Joint Origin Yaw,Parent,Joint Axis X,Joint Axis Y,Joint Axis Z,Limit Effort,Limit Velocity,Limit Lower,Limit Upper,Calibration rising,Calibration falling,Dynamics Damping,Dynamics Friction,Safety Soft Upper,Safety Soft Lower,Safety K Position,Safety K Velocity
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base_link,0,9.74542958129844E-19,-4.31390337655099E-18,0,0,0,6.99004365423729,0.0101938136624294,0,-3.37700910261971E-35,0.0101938136624294,-8.16962303997948E-35,0.00873755456779662,0,0,0,0,0,0,package://gazebo_demo/meshes/base_link.STL,0.537254901960784,0.349019607843137,0.337254901960784,1,0,0,0,0,0,0,package://gazebo_demo/meshes/base_link.STL,,gazebo_demo_part1-1,坐标系1,,,,0,0,0,0,0,0,,0,0,0,,,,,,,,,,,,
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link_1,0.1,-1.86377227087894E-19,-1.38777878078145E-17,0,0,0,1.12492033114729,0.000798459868114599,1.67727625611222E-20,8.85083255431749E-21,0.00679752984625413,9.66746937132908E-21,0.00712727290972403,0,0,0,0,0,0,package://gazebo_demo/meshes/link_1.STL,1,1,1,0.32,0,0,0,0,0,0,package://gazebo_demo/meshes/link_1.STL,,gazebo_demo_part2-1,坐标系2,基准轴1,joint_1,revolute,0,0,0.075,0,0,0,base_link,0,0,-1,1,1,-1.57,1.57,,,,,,,,
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<?xml version="1.0" encoding="utf-8"?>
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<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com)
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Commit Version: 1.5.1-0-g916b5db Build Version: 1.5.7152.31018
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For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
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<robot
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name="gazebo_demo">
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<link
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name="base_link">
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<inertial>
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<origin
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xyz="0 9.74542958129844E-19 -4.31390337655099E-18"
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rpy="0 0 0" />
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<mass
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value="6.99004365423729" />
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<inertia
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ixx="0.0101938136624294"
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ixy="0"
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ixz="-3.37700910261971E-35"
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iyy="0.0101938136624294"
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iyz="-8.16962303997948E-35"
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izz="0.00873755456779662" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://gazebo_demo/meshes/base_link.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="0.537254901960784 0.349019607843137 0.337254901960784 1" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://gazebo_demo/meshes/base_link.STL" />
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</geometry>
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</collision>
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<dynamic damping="0.7" friction="0.5"/>
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</link>
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<gazebo reference="base_link">
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<material>Gazebo/Black</material>
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</gazebo>
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<link
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name="link_1">
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<inertial>
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<origin
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xyz="0.1 -1.86377227087894E-19 -1.38777878078145E-17"
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rpy="0 0 0" />
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<mass
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value="1.12492033114729" />
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<inertia
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ixx="0.000798459868114599"
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ixy="1.67727625611222E-20"
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ixz="8.85083255431749E-21"
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iyy="0.00679752984625413"
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iyz="9.66746937132908E-21"
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izz="0.00712727290972403" />
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</inertial>
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<visual>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://gazebo_demo/meshes/link_1.STL" />
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</geometry>
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<material
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name="">
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<color
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rgba="1 1 1 0.32" />
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</material>
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</visual>
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<collision>
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<origin
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xyz="0 0 0"
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rpy="0 0 0" />
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<geometry>
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<mesh
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filename="package://gazebo_demo/meshes/link_1.STL" />
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</geometry>
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</collision>
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<dynamic damping="0.7" friction="0.5"/>
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</link>
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<gazebo reference="link_1">
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<material>Gazebo/Black</material>
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</gazebo>
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<joint
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name="joint_1"
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type="revolute">
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<origin
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xyz="0 0 0.075"
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rpy="0 0 0" />
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<parent
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link="base_link" />
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<child
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link="link_1" />
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<axis
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xyz="0 0 -1" />
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<limit
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lower="-1.57"
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upper="1.57"
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effort="1"
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velocity="10" />
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</joint>
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<transmission name="joint_1_trans">
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<type>transmission_interface/SimpleTransmission</type>
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<joint name="joint_1">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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</joint>
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<actuator name="joint_1_motor">
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<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
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<mechanicalReduction>1</mechanicalReduction>
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</actuator>
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</transmission>
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<gazebo>
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<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
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<robotNamespace>/gazebo_demo</robotNamespace>
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<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
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<legacyModeNS>true</legacyModeNS>
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</plugin>
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</gazebo>
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</robot>
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