ROS多机器人-gazebo仿真-问题总结及解决方法

卖灯的小哥哥 · 发表于 2023-1-18 12:35:23

近期进行多机器人编队控制仿真（gps、camera、laser），遇到些许问题，总结如下。
1、基于一个机器人URDF如何在gazebo中仿真显示多机器人——launch文件中使用group标签

<launch>

   <include file=&#34;$(find gazebo_ros)/launch/empty_world.launch&#34;>
</include>

<group ns=&#34;ares1&#34;>
<param name=&#34;robot_description&#34; command=&#34;$(find xacro)/xacro $(find urdf_gazebo)/xacro/my_car.urdf.xacro bodyframe:=ares1 ns:=ares1&#34; />

<node name=&#34;joint_state_publisher&#34; pkg=&#34;joint_state_publisher&#34; type=&#34;joint_state_publisher&#34; >
</node>

   <node name=&#34;robot_state_publisher&#34; pkg=&#34;robot_state_publisher&#34; type=&#34;robot_state_publisher&#34;  output=&#34;screen&#34; >
        <param name=&#34;publish_frequency&#34; type=&#34;double&#34; value=&#34;50.0&#34; />
        <param name=&#34;tf_prefix&#34; value=&#34;ares1&#34; />
</node>


<node name=&#34;urdf_spawner&#34; pkg=&#34;gazebo_ros&#34; type=&#34;spawn_model&#34; respawn=&#34;false&#34; output=&#34;screen&#34;
      args=&#34;-urdf -model ares1 -param robot_description -x 0 -y 0&#34;/>
</group>


<group ns=&#34;ares2&#34;>
<param name=&#34;robot_description&#34; command=&#34;$(find xacro)/xacro $(find urdf_gazebo)/xacro/my_car.urdf.xacro bodyframe:=ares2 ns:=ares2&#34; />

<node name=&#34;joint_state_publisher&#34; pkg=&#34;joint_state_publisher&#34; type=&#34;joint_state_publisher&#34; >
</node>

   <node name=&#34;robot_state_publisher&#34; pkg=&#34;robot_state_publisher&#34; type=&#34;robot_state_publisher&#34;  output=&#34;screen&#34; >
   <param name=&#34;publish_frequency&#34; type=&#34;double&#34; value=&#34;50.0&#34; />
<param name=&#34;tf_prefix&#34; value=&#34;ares2&#34; />
</node>

<node name=&#34;urdf_spawner&#34; pkg=&#34;gazebo_ros&#34; type=&#34;spawn_model&#34; respawn=&#34;false&#34; output=&#34;screen&#34;
      args=&#34;-urdf -model ares2 -param robot_description -x 0 -y 1&#34;/>
</group>


<group ns=&#34;ares3&#34;>
<param name=&#34;robot_description&#34; command=&#34;$(find xacro)/xacro $(find urdf_gazebo)/xacro/my_car.urdf.xacro bodyframe:=ares3 ns:=ares3&#34; />

<node name=&#34;joint_state_publisher&#34; pkg=&#34;joint_state_publisher&#34; type=&#34;joint_state_publisher&#34; >
</node>

   <node name=&#34;robot_state_publisher&#34; pkg=&#34;robot_state_publisher&#34; type=&#34;robot_state_publisher&#34;  output=&#34;screen&#34; >
        <param name=&#34;publish_frequency&#34; type=&#34;double&#34; value=&#34;50.0&#34; />
<param name=&#34;tf_prefix&#34; value=&#34;ares3&#34; />
</node>

<node name=&#34;urdf_spawner&#34; pkg=&#34;gazebo_ros&#34; type=&#34;spawn_model&#34; respawn=&#34;false&#34; output=&#34;screen&#34;
      args=&#34;-urdf -model ares3 -param robot_description -x 0 -y -1&#34;/>
</group>
</launch>2、机器人如何单独控制、或共同控制运动——namespace、cmd_vel

差速机器人-左右轮xacro驱动配置
<robot name=&#34;my_car_move&#34; xmlns:xacro=&#34;http://wiki.ros.org/xacro&#34;>
<xacro:macro name=&#34;joint_trans&#34; params=&#34;joint_name&#34;>
      <transmission name=&#34;${joint_name}_trans&#34;>
         <type>transmission_interface/SimpleTransmission</type>
         <joint name=&#34;${joint_name}&#34;>
            <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
         </joint>
         <actuator name=&#34;${joint_name}_motor&#34;>
            <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
            <mechanicalReduction>1</mechanicalReduction>
         </actuator>
      </transmission>
</xacro:macro>

<xacro:joint_trans joint_name=&#34;left_wheel2base_link&#34; />
<xacro:joint_trans joint_name=&#34;right_wheel2base_link&#34; />

<gazebo>
      <plugin name=&#34;differential_drive_controller&#34; filename=&#34;libgazebo_ros_diff_drive.so&#34;>
         <rosDebugLevel>Debug</rosDebugLevel>
         <publishWheelTF>true</publishWheelTF>
         <publishTf>1</publishTf>
         <publishWheelJointState>true</publishWheelJointState>
         <alwaysOn>true</alwaysOn>
         <updateRate>100.0</updateRate>
         <legacyMode>true</legacyMode>
         <leftJoint>left_wheel2base_link</leftJoint>
         <rightJoint>right_wheel2base_link</rightJoint>
         <wheelSeparation>${base_link_radius * 2}</wheelSeparation>
         <wheelDiameter>${wheel_radius * 2}</wheelDiameter>
         <broadcastTF>1</broadcastTF>
         <wheelTorque>30</wheelTorque>
         <wheelAcceleration>1.8</wheelAcceleration>
         <commandTopic>cmd_vel</commandTopic>
         <odometryFrame>odom</odometryFrame>
         <odometryTopic>odom</odometryTopic>
         <robotBaseFrame>$(arg bodyframe)/base_footprint</robotBaseFrame>
         
      </plugin>

      <plugin name=&#34;p3d_base_controller&#34; filename=&#34;libgazebo_ros_p3d.so&#34;>
<alwaysOn>true</alwaysOn>
<updateRate>50.0</updateRate>
<bodyName>base_link</bodyName>
   <topicName>base_pose_ground_truth</topicName>
<gaussianNoise>0.01</gaussianNoise>
<frameName>world</frameName>
<xyzOffsets>0 0 0</xyzOffsets>
   <rpyOffsets>0 0 0</rpyOffsets>
</plugin>
</gazebo>
</robot>如何单独控制各个机器人：
   即通过launch文件的group标签，给cmd_vel话题前加上命名空间。命名空间添加失败原因：
   1> gazebo标签下的plugin标签里面，有<robotNamespace>/<robotNamespace>,该语句设置此配置中命名空间无法奏效，只需删除该语句；
   2> <commandTopic>cmd_vel</commandTopic>设置中，话题cmd_vel前面有 &#39;/&#39;，导致该话题为全局话题，命名空间不起作用，若需单独控制机器人则需要删除该斜杠；若需同时控制多机器人，则保留话题为 /cmd_vel 。
xacro配置文件plugin标签中，若所有话题前面有”/“，则该话题为全局话题，命名空间不起作用，若需命名空间，则需删除”/“。
3、ROS-gazebo如何进行GPS仿真

首先，需下载一个功能包hector_gazebo_plugins。Hector _ gazebo _ plugins 提供了来自 Hector 团队的 gazebo 插件。目前，它包含一个6瓦差分驱动插件，一个 IMU 传感器插件，一个地球磁场传感器插件，一个 GPS 传感器插件和一个声纳测距插件。
介绍：http://wiki.ros.org/hector_gazebo_plugins
安装hector_gazebo_plugins：
sudo apt-get install ros-melodic-hector-gazebo-plugins首先通过xacro文件描述出GPS的物理形状—my_gps.urdf.xacro文件
<robot name=&#34;sensor&#34; xmlns:xacro=&#34;http://www.ros.org/wiki/xacro&#34;>
  <xacro:property name=&#34;height1&#34; value=&#34;0.05&#34; />
  <xacro:property name=&#34;width&#34; value=&#34;0.05&#34; />

  <joint name=&#34;fixed&#34; type=&#34;fixed&#34;>
<parent link=&#34;laser&#34;/>
<child link=&#34;sensor&#34;/>
<origin xyz=&#34;0 0 ${height1 / 2}&#34; />
  </joint>

  <link name=&#34;sensor&#34;>
<collision>
   <origin xyz=&#34;0 0 ${height1/2}&#34; rpy=&#34;0 0 0&#34;/>
   <geometry>
      <box size=&#34;${width} ${width} ${height1}&#34;/>
   </geometry>
</collision>
<visual>
   <origin xyz=&#34;0 0 ${height1/2}&#34; rpy=&#34;0 0 0&#34;/>
   <geometry>
      <box size=&#34;${width} ${width} ${height1}&#34;/>
   </geometry>
   <material name=&#34;orange&#34;/>
</visual>
<inertial>
   <origin xyz=&#34;0 0 1&#34; rpy=&#34;0 0 0&#34;/>
   <mass value=&#34;1&#34;/>
   <inertia
      ixx=&#34;1.0&#34; ixy=&#34;0.0&#34; ixz=&#34;0.0&#34;
      iyy=&#34;1.0&#34; iyz=&#34;0.0&#34;
      izz=&#34;1.0&#34;/>
</inertial>
  </link>
  <material name=&#34;orange&#34;>
<color rgba=&#34;${255/255} ${108/255} ${10/255} 1.0&#34;/>
  </material>
<gazebo reference=&#34;sensor&#34;>
<material>Gazebo/Orange</material>
  </gazebo>
</robot>然后进行gps功能配置：
<robot name=&#34;sensor&#34; xmlns:xacro=&#34;http://www.ros.org/wiki/xacro&#34;>

  <xacro:include filename=&#34;$(find urdf_gazebo)/xacro/my_gps.urdf.xacro&#34;/>

      <gazebo>
         <plugin name=&#34;gazebo_ros_gps&#34; filename=&#34;libhector_gazebo_ros_gps.so&#34;>
            <updateRate>4.0</updateRate>
            <bodyName>sensor</bodyName>
            <frameId>sensor</frameId>
            <topicName>gps/fix</topicName>
            <velocityTopicName>gps/fix_velocity</velocityTopicName>
            <referenceLatitude>-30.06022459407145675</referenceLatitude>
            <referenceLongitude>-51.173913575780311191</referenceLongitude>
            <referenceHeading>90</referenceHeading>
            <referenceAltitude>10</referenceAltitude>
            <offset>0 0 0</offset>
            <drift>0.001 0.001 0.001</drift>
            <gaussianNoise>0.05 0.05 0.05</gaussianNoise>
            <velocityDrift>0.001 0.001 0.001</velocityDrift>
            <velocityGaussianNoise>0.5 0.5 0.5</velocityGaussianNoise>
         </plugin>
      </gazebo>其中，在该gps功能配置的xacro文件中，必须通过 <xacro:include filename=&#34;$(find urdf_gazebo)/xacro/my_gps.urdf.xacro&#34;/> ,导入gps的物体描述xacro文件；即gps的物体描述代码与功能配置代码，需连接在一起。原因：如果是传感器的功能配置plugin标签，则必须在gazebo标签内的sensor标签下，否则不起作用。而该gps的配置gazebo标签内没有sensor标签，若想plugin标签起作用，就得紧接在物体描述代码后，而不能分成两个单独得文件。
同时，若想命名空间起作用，就需主要话题前面的”/“。
<frameId>sensor</frameId>中，frameId为GPS基于哪个ID发布的坐标，其中sensor为描述的GPS名称。
（个人简洁，不是很深刻）
4、Laser仿真

雷达仿真注意事项也如上：
雷达（单线）物体描述的xacro文件：
<robot name=&#34;my_laser&#34; xmlns:xacro=&#34;http://wiki.ros.org/xacro&#34;>
<xacro:property name=&#34;support_length&#34; value=&#34;0.15&#34; />
<xacro:property name=&#34;support_radius&#34; value=&#34;0.01&#34; />
<xacro:property name=&#34;support_x&#34; value=&#34;0.0&#34; />
<xacro:property name=&#34;support_y&#34; value=&#34;0.0&#34; />
<xacro:property name=&#34;support_z&#34; value=&#34;${base_link_length / 2 + support_length / 2}&#34; />
<xacro:property name=&#34;support_m&#34; value=&#34;0.02&#34; />
<link name=&#34;support&#34;>
      <visual>
         <geometry>
            <cylinder radius=&#34;${support_radius}&#34; length=&#34;${support_length}&#34; />
         </geometry>
         <origin xyz=&#34;0.0 0.0 0.0&#34; rpy=&#34;0.0 0.0 0.0&#34; />
         <material name=&#34;red&#34;>
            <color rgba=&#34;0.8 0.2 0.0 0.8&#34; />
         </material>
      </visual>
      <collision>
         <geometry>
            <cylinder radius=&#34;${support_radius}&#34; length=&#34;${support_length}&#34; />
         </geometry>
         <origin xyz=&#34;0.0 0.0 0.0&#34; rpy=&#34;0.0 0.0 0.0&#34; />
      </collision>
      <xacro:cylinder_inertial_matrix m=&#34;${support_m}&#34; r=&#34;${support_radius}&#34; h=&#34;${support_length}&#34; />
</link>
<joint name=&#34;support2base_link&#34; type=&#34;fixed&#34;>
      <parent link=&#34;base_link&#34; />
      <child link=&#34;support&#34; />
      <origin xyz=&#34;${support_x} ${support_y} ${support_z}&#34; />
</joint>
<gazebo reference=&#34;support&#34;>
      <material>Gazebo/White</material>
</gazebo>
<xacro:property name=&#34;laser_length&#34; value=&#34;0.05&#34; />
<xacro:property name=&#34;laser_radius&#34; value=&#34;0.03&#34; />
<xacro:property name=&#34;laser_x&#34; value=&#34;0.0&#34; />
<xacro:property name=&#34;laser_y&#34; value=&#34;0.0&#34; />
<xacro:property name=&#34;laser_z&#34; value=&#34;${support_length / 2 + laser_length / 2}&#34; />
<xacro:property name=&#34;laser_m&#34; value=&#34;0.1&#34; />
<link name=&#34;laser&#34;>
      <visual>
         <geometry>
            <cylinder radius=&#34;${laser_radius}&#34; length=&#34;${laser_length}&#34; />
         </geometry>
         <origin xyz=&#34;0.0 0.0 0.0&#34; rpy=&#34;0.0 0.0 0.0&#34; />
         <material name=&#34;black&#34; />
      </visual>
      <collision>
         <geometry>
            <cylinder radius=&#34;${laser_radius}&#34; length=&#34;${laser_length}&#34; />
         </geometry>
         <origin xyz=&#34;0.0 0.0 0.0&#34; rpy=&#34;0.0 0.0 0.0&#34; />
      </collision>
      <xacro:cylinder_inertial_matrix m=&#34;${laser_m}&#34; r=&#34;${laser_radius}&#34; h=&#34;${laser_length}&#34; />
</link>
<joint name=&#34;laser2support&#34; type=&#34;fixed&#34;>
      <parent link=&#34;support&#34; />
      <child link=&#34;laser&#34; />
      <origin xyz=&#34;${laser_x} ${laser_y} ${laser_z}&#34; />
</joint>
<gazebo reference=&#34;laser&#34;>
      <material>Gazebo/Black</material>
</gazebo>
</robot>功能配置xacro文件（满足命名空间）
<robot name=&#34;my_sensors&#34; xmlns:xacro=&#34;http://wiki.ros.org/xacro&#34;>
  <gazebo reference=&#34;laser&#34;>
<sensor type=&#34;ray&#34; name=&#34;rplidar&#34;>
   <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>30.0</max>
      <resolution>0.01</resolution>
      </range>
      <noise>
      <type>gaussian</type>
      <mean>0.0</mean>
      <stddev>0.01</stddev>
      </noise>
   </ray>
   <plugin name=&#34;gazebo_rplidar&#34; filename=&#34;libgazebo_ros_laser.so&#34;>
      <topicName>scan</topicName>
      <frameName>laser</frameName>
   </plugin>
</sensor>
  </gazebo>
</robot>小车集成xaro文件：
<robot name=&#34;my_car_camera&#34; xmlns:xacro=&#34;http://wiki.ros.org/xacro&#34;>
<xacro:include filename=&#34;my_head.xacro&#34; />
<xacro:include filename=&#34;my_base.urdf.xacro&#34; />
<xacro:include filename=&#34;my_camera.urdf.xacro&#34; />
<xacro:include filename=&#34;my_laser.urdf.xacro&#34; />


<xacro:include filename=&#34;ros_control/gps.xacro&#34; />
<xacro:include filename=&#34;ros_control/move.xacro&#34; />
<xacro:include filename=&#34;ros_control/laser.xacro&#34; />
<xacro:include filename=&#34;ros_control/camera.xacro&#34; />
<xacro:include filename=&#34;ros_control/kinect.xacro&#34; />
</robot>最后小车集成图片：

多机器人显示，并可实现多机领航跟随

各位同学若需要全套仿真代码，可评论或私信博主。

		自动登录	找回密码
密码			立即注册

ROS多机器人-gazebo仿真-问题总结及解决方法

浏览过的版块