https://download.csdn.net/download/qq_45685327/87718396

在前面小車底盤基礎(chǔ)之上，添加攝像頭和雷達(dá)傳感器。

0.底盤實現(xiàn)

deamo02_base.xacro

<!--
    使用 xacro 優(yōu)化 URDF 版的小車底盤實現(xiàn)：

    實現(xiàn)思路:
    1.將一些常量、變量封裝為 xacro:property
      比如:PI 值、小車底盤半徑、離地間距、車輪半徑、寬度 ....
    2.使用 宏 封裝驅(qū)動輪以及支撐輪實現(xiàn)，調(diào)用相關(guān)宏生成驅(qū)動輪與支撐輪

-->
<!-- 根標(biāo)簽，必須聲明 xmlns:xacro -->
<robot name="my_base" xmlns:xacro="http://www.ros.org/wiki/xacro">
    <!-- 封裝變量、常量 -->
    <xacro:property name="PI" value="3.141"/>
    <!-- 宏:黑色設(shè)置 -->
    <material name="black">
        <color rgba="0.0 0.0 0.0 1.0" />
    </material>
    <!-- 底盤屬性 -->
    <xacro:property name="base_footprint_radius" value="0.001" /> <!-- base_footprint 半徑  -->
    <xacro:property name="base_link_radius" value="0.1" /> <!-- base_link 半徑 -->
    <xacro:property name="base_link_length" value="0.08" /> <!-- base_link 長 -->
    <xacro:property name="earth_space" value="0.015" /> <!-- 離地間距 -->

    <!-- 底盤 -->
    <link name="base_footprint">
      <visual>
        <geometry>
          <sphere radius="${base_footprint_radius}" />
        </geometry>
      </visual>
    </link>

    <link name="base_link">
      <visual>
        <geometry>
          <cylinder radius="${base_link_radius}" length="${base_link_length}" />
        </geometry>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <material name="yellow">
          <color rgba="0.5 0.3 0.0 0.5" />
        </material>
      </visual>
    </link>

    <joint name="base_link2base_footprint" type="fixed">
      <parent link="base_footprint" />
      <child link="base_link" />
      <origin xyz="0 0 ${earth_space + base_link_length / 2 }" />
    </joint>

    <!-- 驅(qū)動輪 -->
    <!-- 驅(qū)動輪屬性 -->
    <xacro:property name="wheel_radius" value="0.0325" /><!-- 半徑 -->
    <xacro:property name="wheel_length" value="0.015" /><!-- 寬度 -->
    <!-- 驅(qū)動輪宏實現(xiàn) -->
    <xacro:macro name="add_wheels" params="name flag">
      <link name="${name}_wheel">
        <visual>
          <geometry>
            <cylinder radius="${wheel_radius}" length="${wheel_length}" />
          </geometry>
          <origin xyz="0.0 0.0 0.0" rpy="${PI / 2} 0.0 0.0" />
          <material name="black" />
        </visual>
      </link>

      <joint name="${name}_wheel2base_link" type="continuous">
        <parent link="base_link" />
        <child link="${name}_wheel" />
        <origin xyz="0 ${flag * base_link_radius} ${-(earth_space + base_link_length / 2 - wheel_radius) }" />
        <axis xyz="0 1 0" />
      </joint>
    </xacro:macro>
    <xacro:add_wheels name="left" flag="1" />
    <xacro:add_wheels name="right" flag="-1" />
    <!-- 支撐輪 -->
    <!-- 支撐輪屬性 -->
    <xacro:property name="support_wheel_radius" value="0.0075" /> <!-- 支撐輪半徑 -->

    <!-- 支撐輪宏 -->
    <xacro:macro name="add_support_wheel" params="name flag" >
      <link name="${name}_wheel">
        <visual>
            <geometry>
                <sphere radius="${support_wheel_radius}" />
            </geometry>
            <origin xyz="0 0 0" rpy="0 0 0" />
            <material name="black" />
        </visual>
      </link>

      <joint name="${name}_wheel2base_link" type="continuous">
          <parent link="base_link" />
          <child link="${name}_wheel" />
          <origin xyz="${flag * (base_link_radius - support_wheel_radius)} 0 ${-(base_link_length / 2 + earth_space / 2)}" />
          <axis xyz="1 1 1" />
      </joint>
    </xacro:macro>

    <xacro:add_support_wheel name="front" flag="1" />
    <xacro:add_support_wheel name="back" flag="-1" />

</robot>

1.攝像頭和雷達(dá) Xacro 文件實現(xiàn)

攝像頭 xacro 文件:

deamo03_camera.xacro

<!-- 攝像頭相關(guān)的 xacro 文件 -->
<robot name="my_camera" xmlns:xacro="http://wiki.ros.org/xacro">
    <!-- 攝像頭屬性 -->
    <xacro:property name="camera_length" value="0.01" /> <!-- 攝像頭長度(x) -->
    <xacro:property name="camera_width" value="0.025" /> <!-- 攝像頭寬度(y) -->
    <xacro:property name="camera_height" value="0.025" /> <!-- 攝像頭高度(z) -->
    <xacro:property name="camera_x" value="0.08" /> <!-- 攝像頭安裝的x坐標(biāo) -->
    <xacro:property name="camera_y" value="0.0" /> <!-- 攝像頭安裝的y坐標(biāo) -->
    <xacro:property name="camera_z" value="${base_link_length / 2 + camera_height / 2}" /> <!-- 攝像頭安裝的z坐標(biāo):底盤高度 / 2 + 攝像頭高度 / 2  -->

    <!-- 攝像頭關(guān)節(jié)以及l(fā)ink -->
    <link name="camera">
        <visual>
            <geometry>
                <box size="${camera_length} ${camera_width} ${camera_height}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
            <material name="black" />
        </visual>
    </link>

    <joint name="camera2base_link" type="fixed">
        <parent link="base_link" />
        <child link="camera" />
        <origin xyz="${camera_x} ${camera_y} ${camera_z}" />
    </joint>
</robot>

雷達(dá) xacro 文件:

deamo04_laser.xacro

<!--
    小車底盤添加雷達(dá)
-->
<robot name="my_laser" xmlns:xacro="http://wiki.ros.org/xacro">

    <!-- 雷達(dá)支架 -->
    <xacro:property name="support_length" value="0.15" /> <!-- 支架長度 -->
    <xacro:property name="support_radius" value="0.01" /> <!-- 支架半徑 -->
    <xacro:property name="support_x" value="0.0" /> <!-- 支架安裝的x坐標(biāo) -->
    <xacro:property name="support_y" value="0.0" /> <!-- 支架安裝的y坐標(biāo) -->
    <xacro:property name="support_z" value="${base_link_length / 2 + support_length / 2}" /> <!-- 支架安裝的z坐標(biāo):底盤高度 / 2 + 支架高度 / 2  -->

    <link name="support">
        <visual>
            <geometry>
                <cylinder radius="${support_radius}" length="${support_length}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
            <material name="red">
                <color rgba="0.8 0.2 0.0 0.8" />
            </material>
        </visual>
    </link>

    <joint name="support2base_link" type="fixed">
        <parent link="base_link" />
        <child link="support" />
        <origin xyz="${support_x} ${support_y} ${support_z}" />
    </joint>


    <!-- 雷達(dá)屬性 -->
    <xacro:property name="laser_length" value="0.05" /> <!-- 雷達(dá)長度 -->
    <xacro:property name="laser_radius" value="0.03" /> <!-- 雷達(dá)半徑 -->
    <xacro:property name="laser_x" value="0.0" /> <!-- 雷達(dá)安裝的x坐標(biāo) -->
    <xacro:property name="laser_y" value="0.0" /> <!-- 雷達(dá)安裝的y坐標(biāo) -->
    <xacro:property name="laser_z" value="${support_length / 2 + laser_length / 2}" /> <!-- 雷達(dá)安裝的z坐標(biāo):支架高度 / 2 + 雷達(dá)高度 / 2  -->

    <!-- 雷達(dá)關(guān)節(jié)以及l(fā)ink -->
    <link name="laser">
        <visual>
            <geometry>
                <cylinder radius="${laser_radius}" length="${laser_length}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
            <material name="black" />
        </visual>
    </link>

    <joint name="laser2support" type="fixed">
        <parent link="support" />
        <child link="laser" />
        <origin xyz="${laser_x} ${laser_y} ${laser_z}" />
    </joint>
</robot>

2.組合底盤攝像頭與雷達(dá)的 xacro 文件

deamo05_xacrocar.xacro

<!-- 組合小車底盤與攝像頭與雷達(dá) -->
<robot name="xacrocar" xmlns:xacro="http://wiki.ros.org/xacro">
    <xacro:include filename="deamo02_base.xacro" />
    <xacro:include filename="deamo03_camera.xacro" />
    <xacro:include filename="deamo04_laser.xacro" />
</robot>

3.launch 文件

demo06_xacrocar.launch

<launch>

    <param name="robot_description" textfile="$(find urdf01_rviz)/urdf/xacro/deamo05_xacrocar.urdf" />
    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find urdf01_rviz)/config/show_mycar.rviz" /> 

    <!-- 添加關(guān)節(jié)狀態(tài)發(fā)布節(jié)點(diǎn) -->
    <node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" />
    <!-- 添加機(jī)器人狀態(tài)發(fā)布節(jié)點(diǎn) -->
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" />
    <!-- 可選:用于控制關(guān)節(jié)運(yùn)動的節(jié)點(diǎn) -->
    <node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui" />

</launch>

4.生成的urdf文件

deamo05_xacrocar.urdf

<?xml version="1.0" encoding="utf-8"?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from deamo05_xacrocar.xacro         | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
 
<robot name="xacrocar">
 
  <material name="black">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
 
  <link name="base_footprint">
    <visual>
      <geometry>
        <sphere radius="0.001"/>
      </geometry>
    </visual>
  </link>
  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.08" radius="0.1"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="yellow">
        <color rgba="0.5 0.3 0.0 0.5"/>
      </material>
    </visual>
  </link>
  <joint name="base_link2base_footprint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link"/>
    <origin xyz="0 0 0.055"/>
  </joint>
  <link name="left_wheel">
    <visual>
      <geometry>
        <cylinder length="0.015" radius="0.0325"/>
      </geometry>
      <origin rpy="1.5705 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <material name="black"/>
    </visual>
  </link>
  <joint name="left_wheel2base_link" type="continuous">
    <parent link="base_link"/>
    <child link="left_wheel"/>
    <origin xyz="0 0.1 -0.0225"/>
    <axis xyz="0 1 0"/>
  </joint>
  <link name="right_wheel">
    <visual>
      <geometry>
        <cylinder length="0.015" radius="0.0325"/>
      </geometry>
      <origin rpy="1.5705 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <material name="black"/>
    </visual>
  </link>
  <joint name="right_wheel2base_link" type="continuous">
    <parent link="base_link"/>
    <child link="right_wheel"/>
    <origin xyz="0 -0.1 -0.0225"/>
    <axis xyz="0 1 0"/>
  </joint>
 
  <link name="front_wheel">
    <visual>
      <geometry>
        <sphere radius="0.0075"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="black"/>
    </visual>
  </link>
  <joint name="front_wheel2base_link" type="continuous">
    <parent link="base_link"/>
    <child link="front_wheel"/>
    <origin xyz="0.0925 0 -0.0475"/>
    <axis xyz="1 1 1"/>
  </joint>
  <link name="back_wheel">
    <visual>
      <geometry>
        <sphere radius="0.0075"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="black"/>
    </visual>
  </link>
  <joint name="back_wheel2base_link" type="continuous">
    <parent link="base_link"/>
    <child link="back_wheel"/>
    <origin xyz="-0.0925 0 -0.0475"/>
    <axis xyz="1 1 1"/>
  </joint>
 
  <link name="camera">
    <visual>
      <geometry>
        <box size="0.01 0.025 0.025"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <material name="black"/>
    </visual>
  </link>
  <joint name="camera2base_link" type="fixed">
    <parent link="base_link"/>
    <child link="camera"/>
    <origin xyz="0.08 0.0 0.0525"/>
  </joint>
 
  <link name="support">
    <visual>
      <geometry>
        <cylinder length="0.15" radius="0.01"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <material name="red">
        <color rgba="0.8 0.2 0.0 0.8"/>
      </material>
    </visual>
  </link>
  <joint name="support2base_link" type="fixed">
    <parent link="base_link"/>
    <child link="support"/>
    <origin xyz="0.0 0.0 0.115"/>
  </joint>
 
  <link name="laser">
    <visual>
      <geometry>
        <cylinder length="0.05" radius="0.03"/>
      </geometry>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <material name="black"/>
    </visual>
  </link>
  <joint name="laser2support" type="fixed">
    <parent link="support"/>
    <child link="laser"/>
    <origin xyz="0.0 0.0 0.1"/>
  </joint>
</robot>

5.運(yùn)行l(wèi)aunch文件，查看效果

roslaunch urdf01_rviz demo06_xacrocar.launch

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