ROS URDF(二): 控制URDF机械臂模型运动:解决URDF模型不随joint_states运动问题

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2021年2月6日 09时36分

继上篇文章ROS: URDF自定义robot model —–解决WARN:No tf data. Actual error: Fixed Frame [base_link] does not exist,继续研究URDF,利用joint_state_publisher 控制URDF机械臂模型运动。

 

建模参考:https://blog.csdn.net/wxflamy/article/details/79235493

 

1 创建urdf文件模型 myfirstrobot.urdf

 

<?xml version="1.0"?> 
<robot name="myfirstrobot"> 
	<material name="blue"> 
		<color rgba="0 0 0.8 0.6"/> 
	</material> 

	<material name="white"> 
		<color rgba="1 1 1 0.6"/> 
	</material> 

	<material name="orange"> 
		<color rgba="1 0.4 0.1 0.6"/> 
	</material> 

	<!-- Base Link --> 
	<link name="base_link"> 
		<visual> 
			<geometry> 
				<box size="0.1 0.1 2"/> 
			</geometry> 
			<origin rpy="0 0 0" xyz="0 0 1"/> 
			<material name="blue"/> 
		</visual> 
		<collision> 
			<geometry> 
				<cylinder length="2" radius="0.2"/> 
			</geometry> 
			<origin rpy="0 0 0" xyz="0 0 1"/> 
		</collision> 
		<inertial> 
			<origin xyz="0 0 1" rpy="0 0 0"/> 
			<mass value="1"/> 
			<inertia
                ixx="0.3342" ixy="0.0" ixz="0.0"
                iyy="0.3342" iyz="0.0"
                izz="0.0017"/> 
		</inertial> 
	</link> 

	<joint name="joint1" type="continuous"> 
			<parent link="base_link"/> 
			<child link="middle_link"/> 
			<origin rpy="0 0 0" xyz="0 0 2"/> 
			<axis xyz="0 1 0"/> 
	</joint> 

	<link name="middle_link"> 
			<visual> 
				<geometry> 
					<box size="0.1 0.1 1"/> 
				</geometry> 
				<origin rpy="0 1.57075 0" xyz="0.5 0 0"/> 
				<material 		name="white"/> 
			</visual> 
			<collision> 
				<geometry> 
					<cylinder length="1" radius="0.2"/> 
				</geometry> 
				<origin rpy="0 1.57075 0" xyz="0.5 0 0"/> 
			</collision> 
			<inertial> 
				<origin xyz="0.5 0 0" rpy="0 0 0"/> 
				<mass value="1"/> 
				<inertia
                ixx="0.0017" ixy="0.0" ixz="0.0"
                iyy="0.085" iyz="0.0"
                izz="0.085"/> 
			</inertial> 
		</link> 

	<joint name="joint2" type="continuous"> 
		<parent link="middle_link"/> 
		<child link="top_link"/> 
		<origin rpy="0 0 0" xyz="1 0 0"/> 
		<axis xyz="0 1 0"/> 
	</joint> 

	<link name="top_link"> 
		<visual> 
			<geometry> 
				<box size="0.1 0.1 1"/> 
			</geometry> 
			<origin rpy="0 1.57075 0" xyz="0.5 0 0"/> 
			<material name="orange"/> 
		</visual> 
		<collision> 
			<geometry> 
				<cylinder length="1" radius="0.2"/> 
			</geometry> 
			<origin rpy="0 1.57075 0" xyz="0.5 0 0"/> 
		</collision> 
		<inertial> 
			<origin xyz="0.5 0 0" rpy="0 0 0"/> 
			<mass value="1"/> 
			<inertia
                ixx="0.0017" ixy="0.0" ixz="0.0"
                iyy="0.085" iyz="0.0"
                izz="0.085"/> 
		</inertial> 
	</link> 

	<joint name="end" type="revolute"> 
		<axis xyz="1 0 0"/> 
		<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/> 
		<parent link="top_link"/> 
		<child link="end_link"/> 
		<origin rpy="0 0 0" xyz="1 0 0"/> 
	</joint> 

	<link name="end_link"> 
		<visual> 
			<geometry> 
				<sphere radius="0.1"/> 
			</geometry> 
			<material name="white"/> 
		</visual> 
		<collision> 
			<geometry> 
				<sphere radius="0.15"/> 
			</geometry> 
		</collision> 
		<inertial> 
			<origin xyz="0 0 0" rpy="0 0 0"/> 
			<mass value="1"/> 
			<inertia
                ixx="0.0017" ixy="0.0" ixz="0.0"
                iyy="0.0017" iyz="0.0"
                izz="0.0017"/> 
		</inertial> 
	</link> 
</robot>

 

2 创建launch启动文件diaplay.launch

 

<launch>
	<param name="robot_description"
	textfile="$(find myurdf)/urdf/myfirstrobot.urdf"/>
	
	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>
	
	<node 
    		name="joint_state_publisher" 
    		pkg="joint_state_publisher" 
    		type="joint_state_publisher"> <param name="use_gui" value="TRUE"/> 	
    	</node>

	<node name="rviz" pkg="rviz" type="rviz" respawn="false" output="screen"/>
</launch>

 

3 启动launch文件

 

roslaunch myurdf display.launch

 

显示如下结果:

 

在这里插入图片描述

 

通过Joint State Publisher控制关节运动,如下

 

在这里插入图片描述

 

如上图,URDF模型并没有随着Joint State Publisher控制运动,变化的仅是tf frame.

 

经研究,发现该问题源于Rviz配置文件,当前启动的是rviz的默认配置,使用如下配置,可以实现URDF的随动,

 

4 创建urdf.rviz

 

Panels:
  - Class: rviz/Displays
    Help Height: 78
    Name: Displays
    Property Tree Widget:
      Expanded:
        - /Global Options1
        - /Status1
      Splitter Ratio: 0.5
    Tree Height: 565
  - Class: rviz/Selection
    Name: Selection
  - Class: rviz/Tool Properties
    Expanded:
      - /2D Pose Estimate1
      - /2D Nav Goal1
      - /Publish Point1
    Name: Tool Properties
    Splitter Ratio: 0.588679
  - Class: rviz/Views
    Expanded:
      - /Current View1
    Name: Views
    Splitter Ratio: 0.5
  - Class: rviz/Time
    Experimental: false
    Name: Time
    SyncMode: 0
    SyncSource: ""
Visualization Manager:
  Class: ""
  Displays:
    - Alpha: 0.5
      Cell Size: 1
      Class: rviz/Grid
      Color: 160; 160; 164
      Enabled: true
      Line Style:
        Line Width: 0.03
        Value: Lines
      Name: Grid
      Normal Cell Count: 0
      Offset:
        X: 0
        Y: 0
        Z: 0
      Plane: XY
      Plane Cell Count: 10
      Reference Frame: <Fixed Frame>
      Value: true
    - Alpha: 1
      Class: rviz/RobotModel
      Collision Enabled: false
      Enabled: true
      Links:
        {}
      Name: RobotModel
      Robot Description: robot_description
      TF Prefix: ""
      Update Interval: 0
      Value: true
      Visual Enabled: true
    - Class: rviz/TF
      Enabled: true
      Frame Timeout: 15
      Frames:
        All Enabled: true
      Marker Scale: 1
      Name: TF
      Show Arrows: true
      Show Axes: true
      Show Names: true
      Tree:
        {}
      Update Interval: 0
      Value: true
  Enabled: true
  Global Options:
    Background Color: 48; 48; 48
    Fixed Frame: /base_link
  Name: root
  Tools:
    - Class: rviz/Interact
      Hide Inactive Objects: true
    - Class: rviz/MoveCamera
    - Class: rviz/Select
    - Class: rviz/FocusCamera
    - Class: rviz/Measure
    - Class: rviz/SetInitialPose
      Topic: /initialpose
    - Class: rviz/SetGoal
      Topic: /move_base_simple/goal
    - Class: rviz/PublishPoint
      Single click: true
      Topic: /clicked_point
  Value: true
  Views:
    Current:
      Class: rviz/Orbit
      Distance: 10
      Focal Point:
        X: 0
        Y: 0
        Z: 0
      Name: Current View
      Near Clip Distance: 0.01
      Pitch: 0.465398
      Target Frame: <Fixed Frame>
      Value: Orbit (rviz)
      Yaw: 0.885398
    Saved: ~
Window Geometry:
  Displays:
    collapsed: false
  Height: 882
  Hide Left Dock: false
  Hide Right Dock: false
  QMainWindow State: 000000ff00000000fd00000004000000000000013c000002c4fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000006400fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c0061007900730100000028000002c4000000dd00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f000002c4fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a005600690065007700730100000028000002c4000000b000fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004b00000003efc0100000002fb0000000800540069006d00650100000000000004b0000002f600fffffffb0000000800540069006d0065010000000000000450000000000000000000000259000002c400000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
  Selection:
    collapsed: false
  Time:
    collapsed: false
  Tool Properties:
    collapsed: false
  Views:
    collapsed: false
  Width: 1216
  X: 53
  Y: 60

 

5 更新launch文件

 

<launch>
	<param name="robot_description"
	textfile="$(find myurdf)/urdf/myfirstrobot.urdf"/>

	<node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"/>

	<node 
    		name="joint_state_publisher" 
   		 pkg="joint_state_publisher" 
   		 type="joint_state_publisher"> <param name="use_gui" value="TRUE"/> 
   	</node>
	<node name="rviz" pkg="rviz" type="rviz" respawn="false" output="screen" args="-d $(find myurdf)/urdf.rviz"/>
</launch>

 

6 启动launch文件

 

roslaunch myurdf display.launch

 

在这里插入图片描述

 

如上,URDF模型随Joint State Publisher控制运动,且tf一起变换。

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