mirror of
https://github.com/Jieshoudaxue/ros_senior.git
synced 2026-08-29 08:34:43 +08:00
[feat] add mbot xacro
This commit is contained in:
jieshoudaxue
@@ -0,0 +1,197 @@
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Panels:
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- Class: rviz/Displays
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Help Height: 78
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Name: Displays
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Property Tree Widget:
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Expanded:
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- /Global Options1
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- /Status1
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Splitter Ratio: 0.5
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Tree Height: 490
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- Class: rviz/Selection
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Name: Selection
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- Class: rviz/Tool Properties
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Expanded:
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- /2D Pose Estimate1
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- /2D Nav Goal1
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- /Publish Point1
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Name: Tool Properties
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Splitter Ratio: 0.5886790156364441
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- Class: rviz/Views
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Expanded:
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- /Current View1
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Name: Views
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Splitter Ratio: 0.5
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- Class: rviz/Time
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Name: Time
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SyncMode: 0
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SyncSource: ""
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Preferences:
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PromptSaveOnExit: true
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Toolbars:
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toolButtonStyle: 2
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Visualization Manager:
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Class: ""
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Displays:
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- Alpha: 0.5
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Cell Size: 1
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Class: rviz/Grid
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Color: 160; 160; 164
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Enabled: true
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Line Style:
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Line Width: 0.029999999329447746
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Value: Lines
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Name: Grid
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Normal Cell Count: 0
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Offset:
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X: 0
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Y: 0
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Z: 0
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Plane: XY
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Plane Cell Count: 10
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Reference Frame: <Fixed Frame>
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Value: true
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- Alpha: 1
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Class: rviz/RobotModel
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Collision Enabled: false
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Enabled: true
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Links:
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All Links Enabled: true
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Expand Joint Details: false
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Expand Link Details: false
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Expand Tree: false
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Link Tree Style: Links in Alphabetic Order
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back_caster_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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base_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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camera_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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front_caster_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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kinect_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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laser_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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left_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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right_wheel_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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stage_link:
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Alpha: 1
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Show Axes: false
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Show Trail: false
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Value: true
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Name: RobotModel
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Robot Description: robot_description
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TF Prefix: ""
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Update Interval: 0
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Value: true
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Visual Enabled: true
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- Class: rviz/TF
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Enabled: false
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Filter (blacklist): ""
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Filter (whitelist): ""
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Frame Timeout: 15
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Frames:
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All Enabled: true
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Marker Alpha: 1
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Marker Scale: 1
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Name: TF
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Show Arrows: true
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Show Axes: true
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Show Names: true
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Tree:
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{}
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Update Interval: 0
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Value: false
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Enabled: true
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Global Options:
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Background Color: 48; 48; 48
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Default Light: true
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Fixed Frame: base_link
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Frame Rate: 30
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Name: root
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Tools:
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- Class: rviz/Interact
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Hide Inactive Objects: true
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- Class: rviz/MoveCamera
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- Class: rviz/Select
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- Class: rviz/FocusCamera
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- Class: rviz/Measure
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- Class: rviz/SetInitialPose
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Theta std deviation: 0.2617993950843811
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Topic: /initialpose
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X std deviation: 0.5
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Y std deviation: 0.5
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- Class: rviz/SetGoal
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Topic: /move_base_simple/goal
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- Class: rviz/PublishPoint
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Single click: true
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Topic: /clicked_point
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Value: true
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Views:
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Current:
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Class: rviz/Orbit
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Distance: 1.6701574325561523
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Enable Stereo Rendering:
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Stereo Eye Separation: 0.05999999865889549
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Stereo Focal Distance: 1
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Swap Stereo Eyes: false
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Value: false
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Field of View: 0.7853981852531433
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Focal Point:
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X: 0
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Y: 0
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Z: 0
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Focal Shape Fixed Size: true
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Focal Shape Size: 0.05000000074505806
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Invert Z Axis: false
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Name: Current View
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Near Clip Distance: 0.009999999776482582
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Pitch: 0.36039790511131287
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Target Frame: <Fixed Frame>
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Yaw: 2.130397081375122
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Saved: ~
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Window Geometry:
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Displays:
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collapsed: false
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Height: 781
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Hide Left Dock: false
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Hide Right Dock: false
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QMainWindow State: 000000ff00000000fd00000004000000000000015600000273fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003b00000273000000c700fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000273fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003b00000273000000a000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b00000030700fffffffb0000000800540069006d00650100000000000004500000000000000000000003540000027300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
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Selection:
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collapsed: false
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Time:
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collapsed: false
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Tool Properties:
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collapsed: false
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Views:
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collapsed: false
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Width: 1200
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X: 60
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Y: 60
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@@ -0,0 +1,29 @@
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digraph G {
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node [shape=box];
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"base_link" [label="base_link"];
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"back_caster_link" [label="back_caster_link"];
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"camera_link" [label="camera_link"];
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"front_caster_link" [label="front_caster_link"];
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"kinect_link" [label="kinect_link"];
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"left_wheel_link" [label="left_wheel_link"];
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"right_wheel_link" [label="right_wheel_link"];
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"stage_link" [label="stage_link"];
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"laser_link" [label="laser_link"];
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node [shape=ellipse, color=blue, fontcolor=blue];
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"base_link" -> "back_caster_joint" [label="xyz: -0.18 0 -0.095 \nrpy: 0 -0 0"]
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"back_caster_joint" -> "back_caster_link"
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"base_link" -> "camera_joint" [label="xyz: -0.17 0 0.1 \nrpy: 0 -0 0"]
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"camera_joint" -> "camera_link"
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"base_link" -> "front_caster_joint" [label="xyz: 0.18 0 -0.095 \nrpy: 0 -0 0"]
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"front_caster_joint" -> "front_caster_link"
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"base_link" -> "kinect_joint" [label="xyz: 0.15 0 0.11 \nrpy: 0 -0 0"]
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"kinect_joint" -> "kinect_link"
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"base_link" -> "left_wheel_joint" [label="xyz: 0 0.19 -0.05 \nrpy: 0 -0 0"]
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"left_wheel_joint" -> "left_wheel_link"
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"base_link" -> "right_wheel_joint" [label="xyz: 0 -0.19 -0.05 \nrpy: 0 -0 0"]
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"right_wheel_joint" -> "right_wheel_link"
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"base_link" -> "stage_joint" [label="xyz: 0 0 0.14 \nrpy: 0 -0 0"]
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"stage_joint" -> "stage_link"
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"stage_link" -> "laser_joint" [label="xyz: 0 0 0.085 \nrpy: 0 -0 0"]
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"laser_joint" -> "laser_link"
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}
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Binary file not shown.
@@ -0,0 +1,18 @@
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<launch>
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<arg name="model" default="$(find xacro)/xacro '$(find mbot_description)/urdf/mbot_base.xacro'" />
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<param name="robot_description" command="$(arg model)" />
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<!-- 设置GUI参数，显示关节控制插件 -->
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<param name="use_gui" value="true"/>
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<!-- 运行joint_state_publisher节点，发布机器人的关节状态 -->
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<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
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<!-- 运行robot_state_publisher节点，发布tf -->
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<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
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<!-- 运行rviz可视化界面 -->
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<node name="rviz" pkg="rviz" type="rviz" args="-d $(find mbot_description)/config/mbot_xacro.rviz" required="true" />
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</launch>
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@@ -0,0 +1,132 @@
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<?xml version="1.0" ?>
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<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
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<xacro:property name="M_PI" value="3.1415926" />
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<xacro:property name="wheel_joint_x" value="0" />
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<xacro:property name="wheel_joint_y" value="0.19" />
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<xacro:property name="wheel_joint_z" value="0.05" />
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<xacro:property name="wheel_length" value="0.06" />
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<xacro:property name="wheel_radius" value="0.06" />
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<xacro:property name="caster_joint_x" value="0.18" />
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<xacro:property name="caster_joint_y" value="0" />
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<xacro:property name="caster_joint_z" value="0.095" />
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<xacro:property name="caster_radius" value="0.015" />
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<xacro:property name="base_length" value="0.16" />
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<xacro:property name="base_radius" value="0.2" />
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<xacro:property name="stage_length" value="0.12" />
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<xacro:property name="stage_radius" value="0.1" />
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<xacro:property name="camera_joint_x" value="0.17" />
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<xacro:property name="camera_joint_y" value="0" />
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<xacro:property name="camera_joint_z" value="0.1" />
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<xacro:property name="kinect_joint_x" value="0.15" />
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<xacro:property name="kinect_joint_y" value="0" />
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<xacro:property name="kinect_joint_z" value="0.11" />
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<xacro:property name="laser_joint_x" value="0" />
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<xacro:property name="laser_joint_y" value="0" />
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<xacro:property name="laser_joint_z" value="0.085" />
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<material name="white">
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<color rgba="1 1 1 0.9"/>
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</material>
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<material name="red">
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<color rgba="1 0 0 1"/>
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</material>
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<material name="grey">
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<color rgba="0.5 0.5 0.5 1"/>
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</material>
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<xacro:macro name="base_stage">
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<link name="base_link">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<cylinder length="${base_length}" radius="${base_radius}"/>
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</geometry>
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<material name="red" />
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</visual>
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</link>
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<joint name="stage_joint" type="fixed">
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<origin xyz="0 0 ${(base_length + stage_length)/2}" rpy="0 0 0" />
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<parent link="base_link"/>
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<child link="stage_link" />
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</joint>
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<link name="stage_link">
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<visual>
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<origin xyz="0 0 0" rpy="0 0 0"/>
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<geometry>
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<cylinder length="${stage_length}" radius="${stage_radius}"/>
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</geometry>
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<material name="red" />
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</visual>
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</link>
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</xacro:macro>
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<xacro:macro name="wheel" params="prefix reflect">
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<joint name="${prefix}_wheel_joint" type="continuous">
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<origin xyz="${wheel_joint_x} ${reflect*wheel_joint_y} ${-wheel_joint_z}" rpy="0 0 0" />
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<parent link="base_link" />
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<child link="${prefix}_wheel_link" />
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<axis xyz="0 1 0" />
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</joint>
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<link name="${prefix}_wheel_link">
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<visual>
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<origin xyz="0 0 0" rpy="${M_PI/2} 0 0"/>
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<geometry>
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<cylinder length="${wheel_length}" radius="${wheel_radius}"/>
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</geometry>
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<material name="white" />
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</visual>
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</link>
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</xacro:macro>
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<xacro:macro name="caster" params="prefix reflect">
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<joint name="${prefix}_caster_joint" type="continuous">
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<origin xyz="${reflect*caster_joint_x} ${caster_joint_y} ${-caster_joint_z}" rpy="0 0 0" />
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<parent link="base_link"/>
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<child link="${prefix}_caster_link" />
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<axis xyz="0 1 0" />
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</joint>
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||||
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<link name="${prefix}_caster_link">
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||||
<visual>
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<origin xyz="0 0 0" rpy="0 0 0" />
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<geometry>
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<sphere radius="${caster_radius}" />
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||||
</geometry>
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||||
<material name="white" />
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||||
</visual>
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||||
</link>
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||||
</xacro:macro>
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||||
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<xacro:base_stage />
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||||
<xacro:wheel prefix="left" reflect="1"/>
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||||
<xacro:wheel prefix="right" reflect="-1"/>
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||||
<xacro:caster prefix="front" reflect="1"/>
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||||
<xacro:caster prefix="back" reflect="-1"/>
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||||
|
||||
<xacro:include filename="$(find mbot_description)/urdf/sensor/camera.xacro" />
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||||
<xacro:usb_camera joint_x="${camera_joint_x}" joint_y="${camera_joint_y}" joint_z="${camera_joint_z}"/>
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||||
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<xacro:include filename="$(find mbot_description)/urdf/sensor/kinect.xacro" />
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<xacro:kinect joint_x="${kinect_joint_x}" joint_y="${kinect_joint_y}" joint_z="${kinect_joint_z}"/>
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||||
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||||
<xacro:include filename="$(find mbot_description)/urdf/sensor/laser.xacro" />
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||||
<xacro:laser joint_x="${laser_joint_x}" joint_y="${laser_joint_y}" joint_z="${laser_joint_z}"/>
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||||
|
||||
</robot>
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@@ -0,0 +1,22 @@
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||||
<?xml version="1.0" ?>
|
||||
<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:macro name="usb_camera" params="joint_x joint_y joint_z">
|
||||
<joint name="camera_joint" type="fixed">
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||||
<origin xyz="${-joint_x} ${joint_y} ${joint_z}" rpy="0 0 0" />
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||||
<parent link="base_link"/>
|
||||
<child link="camera_link" />
|
||||
</joint>
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||||
|
||||
<link name="camera_link">
|
||||
<visual>
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||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<box size="0.03 0.04 0.04" />
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||||
</geometry>
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||||
<material name="grey" />
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||||
</visual>
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||||
</link>
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||||
</xacro:macro>
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||||
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||||
</robot>
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||||
@@ -0,0 +1,21 @@
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<?xml version="1.0" ?>
|
||||
<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:macro name="kinect" params="joint_x joint_y joint_z">
|
||||
<joint name="kinect_joint" type="fixed">
|
||||
<origin xyz="${joint_x} ${joint_y} ${joint_z}" rpy="0 0 0" />
|
||||
<parent link="base_link"/>
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||||
<child link="kinect_link" />
|
||||
</joint>
|
||||
|
||||
<link name="kinect_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 1.5708" />
|
||||
<geometry>
|
||||
<mesh filename="package://mbot_description/meshes/kinect.dae" />
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||||
</geometry>
|
||||
</visual>
|
||||
</link>
|
||||
</xacro:macro>
|
||||
|
||||
</robot>
|
||||
@@ -0,0 +1,21 @@
|
||||
<?xml version="1.0" ?>
|
||||
<robot name="mbot" xmlns:xacro="http://www.ros.org/wiki/xacro">
|
||||
|
||||
<xacro:macro name="laser" params="joint_x joint_y joint_z">
|
||||
<joint name="laser_joint" type="fixed">
|
||||
<origin xyz="${joint_x} ${joint_y} ${joint_z}" rpy="0 0 0" />
|
||||
<parent link="stage_link"/>
|
||||
<child link="laser_link" />
|
||||
</joint>
|
||||
|
||||
<link name="laser_link">
|
||||
<visual>
|
||||
<origin xyz="0 0 0" rpy="0 0 0" />
|
||||
<geometry>
|
||||
<cylinder length="0.05" radius="0.05"/>
|
||||
</geometry>
|
||||
<material name="grey"/>
|
||||
</visual>
|
||||
</link>
|
||||
</xacro:macro>
|
||||
</robot>
|
||||
Reference in New Issue
Block a user