关于机器人雷达的仿真

src/humantest/model/demo07_laser.xacro

@@ -0,0 +1,71 @@
+<robot name="my_laser" xmlns:xacro="http://wiki.ros.org/xacro">
+
+    <!-- 雷达支架 -->
+    <xacro:property name="support_length" value="0.15" /> <!-- 支架长度 -->
+    <xacro:property name="support_radius" value="0.01" /> <!-- 支架半径 -->
+    <xacro:property name="support_x" value="0.0" /> <!-- 支架安装的x坐标 -->
+    <xacro:property name="support_y" value="0.0" /> <!-- 支架安装的y坐标 -->
+    <xacro:property name="support_z" value="${base_link_length / 2 + support_length / 2}" /> <!-- 支架安装的z坐标:底盘高度 / 2 + 支架高度 / 2  -->
+    <xacro:property name="support_m" value="0.02" /> <!-- 支架质量 -->
+
+    <link name="support">
+        <visual>
+            <geometry>
+                <cylinder radius="${support_radius}" length="${support_length}" />
+            </geometry>
+            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+            <material name="red">
+                <color rgba="0.8 0.2 0.0 0.5" />
+            </material>
+        </visual>
+        <collision>
+          <geometry>
+            <cylinder radius="${support_radius}" length="${support_length}" />
+          </geometry>
+          <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+        </collision>
+        <xacro:cylinder_inertial_matrix m="${support_m}" r="${support_radius}" h="${support_length}" />        
+    </link>
+    <gazebo reference="support">
+        <material>Gazebo/White</material>
+    </gazebo>
+    <joint name="support2base_link" type="fixed">
+        <parent link="base_link" />
+        <child link="support" />
+        <origin xyz="${support_x} ${support_y} ${support_z}" />
+    </joint>
+
+
+    <!-- 雷达属性 -->
+    <xacro:property name="laser_length" value="0.05" /> <!-- 雷达长度 -->
+    <xacro:property name="laser_radius" value="0.03" /> <!-- 雷达半径 -->
+    <xacro:property name="laser_x" value="0.0" /> <!-- 雷达安装的x坐标 -->
+    <xacro:property name="laser_y" value="0.0" /> <!-- 雷达安装的y坐标 -->
+    <xacro:property name="laser_z" value="${support_length / 2 + laser_length / 2}" /> <!-- 雷达安装的z坐标:支架高度 / 2 + 雷达高度 / 2  -->
+    <xacro:property name="laser_m" value="0.1" /> <!-- 雷达质量 -->
+    <!-- 雷达关节以及link -->
+    <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>
+        <collision>
+           <geometry>
+               <cylinder radius="${laser_radius}" length="${laser_length}" />
+           </geometry>
+           <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
+        </collision>
+        <xacro:cylinder_inertial_matrix m="${laser_m}" r="${laser_radius}" h="${laser_length}" />        
+    </link>
+    <gazebo reference="laser">
+        <material>Gazebo/Black</material>
+    </gazebo>
+    <joint name="laser2support" type="fixed">
+        <parent link="support" />
+        <child link="laser" />
+        <origin xyz="${laser_x} ${laser_y} ${laser_z}" />
+    </joint>
+</robot>

src/humantest/model/gazebo_laser.launch

@@ -0,0 +1,13 @@
+<launch>
+
+    <!-- 将 Urdf 文件的内容加载到参数服务器 -->
+    <param name="robot_description" command="$(find xacro)/xacro $(find urdf2_gazabo)/urdf/robot.xacro" />
+
+    <!-- 启动 gazebo -->
+    <include file="$(find gazebo_ros)/launch/empty_world.launch" >
+       <arg name="world_name" value="$(find urdf2_gazabo)/worlds/box_house.world" />
+    </include>
+
+    <!-- 在 gazebo 中显示机器人模型 -->
+    <node pkg="gazebo_ros" type="spawn_model" name="model" args="-urdf -model mycar -param robot_description"  />
+</launch>

src/humantest/model/laser.xacro

@@ -0,0 +1,36 @@
+<robot name="my_sensors" xmlns:xacro="http://wiki.ros.org/xacro">
+
+  <!-- 雷达 -->
+  <gazebo reference="laser">
+    <sensor type="ray" name="rplidar">
+      <pose>0 0 0 0 0 0</pose>
+      <visualize>true</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="gazebo_rplidar" filename="libgazebo_ros_laser.so">
+        <topicName>/scan</topicName>
+        <frameName>laser</frameName>
+      </plugin>
+    </sensor>
+  </gazebo>
+
+</robot>

src/humantest/model/robot.xacro

@@ -4,5 +4,5 @@
    <xacro:include filename="demo06_car_camera.xacro" />
    <xacro:include filename="demo07_laser.xacro" />
    <xacro:include filename="gazebo/move.xacro" />
-
-</robot>
+   <xacro:include filename="gazebo/laser.xacro" />
+</robot>

src/humantest/model/rviz_laser.launch

@@ -0,0 +1,9 @@
+<launch>
+    <!-- 启动 rviz -->
+    <node pkg="rviz" type="rviz" name="rviz" args="-d $(find urdf01_rviz)/config/show_mycar.rviz" /> />
+
+    <!-- 关节以及机器人状态发布节点 -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+</launch>