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feat: chapt6

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Mzebra
2023-12-14 22:37:46 +08:00
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32
chapt6/chapt6_ws/src/fishbot_description/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(fishbot_description)
if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()
# find dependencies
find_package(ament_cmake REQUIRED)
# uncomment the following section in order to fill in
# further dependencies manually.
# find_package(<dependency> REQUIRED)
if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)
# the following line skips the linter which checks for copyrights
# comment the line when a copyright and license is added to all source files
set(ament_cmake_copyright_FOUND TRUE)
# the following line skips cpplint (only works in a git repo)
# comment the line when this package is in a git repo and when
# a copyright and license is added to all source files
set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()
install(DIRECTORY launch urdf config world
DESTINATION share/${PROJECT_NAME}
)
ament_package()

202
chapt6/chapt6_ws/src/fishbot_description/LICENSE Normal file
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7
chapt6/chapt6_ws/src/fishbot_description/config/fishbot_ros2_controller.yaml Normal file
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controller_manager:
ros__parameters:
update_rate: 100 # Hz
use_sim_time: true
fishbot_joint_state_broadcaster:
type: joint_state_broadcaster/JointStateBroadcaster
use_sim_time: true

170
chapt6/chapt6_ws/src/fishbot_description/config/rviz/dispaly_model.rviz Normal file
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Panels:
- Class: rviz_common/Displays
Help Height: 78
Name: Displays
Property Tree Widget:
Expanded:
- /Global Options1
- /Status1
- /RobotModel1
Splitter Ratio: 0.5
Tree Height: 480
- Class: rviz_common/Selection
Name: Selection
- Class: rviz_common/Tool Properties
Expanded:
- /2D Goal Pose1
- /Publish Point1
Name: Tool Properties
Splitter Ratio: 0.5886790156364441
- Class: rviz_common/Views
Expanded:
- /Current View1
Name: Views
Splitter Ratio: 0.5
- Class: rviz_common/Time
Experimental: false
Name: Time
SyncMode: 0
SyncSource: ""
Visualization Manager:
Class: ""
Displays:
- Alpha: 0.5
Cell Size: 1
Class: rviz_default_plugins/Grid
Color: 160; 160; 164
Enabled: true
Line Style:
Line Width: 0.029999999329447746
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_default_plugins/RobotModel
Collision Enabled: false
Description File: ""
Description Source: Topic
Description Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /robot_description
Enabled: true
Links:
All Links Enabled: true
Expand Joint Details: false
Expand Link Details: false
Expand Tree: false
Link Tree Style: Links in Alphabetic Order
base_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
imu_link:
Alpha: 1
Show Axes: false
Show Trail: false
Value: true
Mass Properties:
Inertia: false
Mass: false
Name: RobotModel
TF Prefix: ""
Update Interval: 0
Value: true
Visual Enabled: true
Enabled: true
Global Options:
Background Color: 48; 48; 48
Fixed Frame: base_link
Frame Rate: 30
Name: root
Tools:
- Class: rviz_default_plugins/Interact
Hide Inactive Objects: true
- Class: rviz_default_plugins/MoveCamera
- Class: rviz_default_plugins/Select
- Class: rviz_default_plugins/FocusCamera
- Class: rviz_default_plugins/Measure
Line color: 128; 128; 0
- Class: rviz_default_plugins/SetInitialPose
Covariance x: 0.25
Covariance y: 0.25
Covariance yaw: 0.06853891909122467
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /initialpose
- Class: rviz_default_plugins/SetGoal
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /goal_pose
- Class: rviz_default_plugins/PublishPoint
Single click: true
Topic:
Depth: 5
Durability Policy: Volatile
History Policy: Keep Last
Reliability Policy: Reliable
Value: /clicked_point
Transformation:
Current:
Class: rviz_default_plugins/TF
Value: true
Views:
Current:
Class: rviz_default_plugins/Orbit
Distance: 0.4101419746875763
Enable Stereo Rendering:
Stereo Eye Separation: 0.05999999865889549
Stereo Focal Distance: 1
Swap Stereo Eyes: false
Value: false
Focal Point:
X: 0
Y: 0
Z: 0
Focal Shape Fixed Size: true
Focal Shape Size: 0.05000000074505806
Invert Z Axis: false
Name: Current View
Near Clip Distance: 0.009999999776482582
Pitch: 0.785398006439209
Target Frame: <Fixed Frame>
Value: Orbit (rviz)
Yaw: 0.785398006439209
Saved: ~
Window Geometry:
Displays:
collapsed: false
Height: 777
Hide Left Dock: false
Hide Right Dock: false
QMainWindow State: 000000ff00000000fd0000000400000000000001560000026bfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d0000026b000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000026bfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d0000026b000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000054a0000003efc0100000002fb0000000800540069006d006501000000000000054a000002fb00fffffffb0000000800540069006d00650100000000000004500000000000000000000002d90000026b00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
Selection:
collapsed: false
Time:
collapsed: false
Tool Properties:
collapsed: false
Views:
collapsed: false
Width: 1354
X: 70
Y: 27

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chapt6/chapt6_ws/src/fishbot_description/launch/display_robot.launch.py Normal file
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import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
# 获取默认路径
urdf_tutorial_path = get_package_share_directory('fishbot_description')
default_model_path = urdf_tutorial_path + '/urdf/first_robot.urdf'
default_rviz_config_path = urdf_tutorial_path + '/config/rviz/display_model.rviz'
# 为 Launch 声明参数
action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
name='model', default_value=str(default_model_path),
description='URDF 的绝对路径')
# 获取文件内容生成新的参数
robot_description = launch_ros.parameter_descriptions.ParameterValue(
launch.substitutions.Command(
['xacro ', launch.substitutions.LaunchConfiguration('model')]),
value_type=str)
# 状态发布节点
robot_state_publisher_node = launch_ros.actions.Node(
package='robot_state_publisher',
executable='robot_state_publisher',
parameters=[{'robot_description': robot_description}]
)
# 关节状态发布节点
joint_state_publisher_node = launch_ros.actions.Node(
package='joint_state_publisher',
executable='joint_state_publisher',
)
# RViz 节点
rviz_node = launch_ros.actions.Node(
package='rviz2',
executable='rviz2',
arguments=['-d', default_rviz_config_path]
)
return launch.LaunchDescription([
action_declare_arg_mode_path,
joint_state_publisher_node,
robot_state_publisher_node,
rviz_node
])

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chapt6/chapt6_ws/src/fishbot_description/launch/gazebo_sim.launch.py Normal file
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import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
from launch.launch_description_sources import PythonLaunchDescriptionSource
def generate_launch_description():
# 获取默认路径
robot_name_in_model = "fishbot"
urdf_tutorial_path = get_package_share_directory('fishbot_description')
default_model_path = urdf_tutorial_path + '/urdf/fishbot/fishbot.urdf.xacro'
default_world_path = urdf_tutorial_path + '/world/custom_room.world'
# 为 Launch 声明参数
action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
name='model', default_value=str(default_model_path),
description='URDF 的绝对路径')
# 获取文件内容生成新的参数
robot_description = launch_ros.parameter_descriptions.ParameterValue(
launch.substitutions.Command(
['xacro ', launch.substitutions.LaunchConfiguration('model')]),
value_type=str)
robot_state_publisher_node = launch_ros.actions.Node(
package='robot_state_publisher',
executable='robot_state_publisher',
parameters=[{'robot_description': robot_description}]
)
# 通过 IncludeLaunchDescription 包含另外一个 launch 文件
launch_gazebo = launch.actions.IncludeLaunchDescription(
PythonLaunchDescriptionSource([get_package_share_directory(
'gazebo_ros'), '/launch', '/gazebo.launch.py']),
# 传递参数
launch_arguments=[('world', default_world_path),('verbose','true')]
)
# 请求 Gazebo 加载机器人
spawn_entity_node = launch_ros.actions.Node(
package='gazebo_ros',
executable='spawn_entity.py',
arguments=['-topic', '/robot_description',
'-entity', robot_name_in_model, ])
return launch.LaunchDescription([
action_declare_arg_mode_path,
robot_state_publisher_node,
launch_gazebo,
spawn_entity_node
])

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chapt6/chapt6_ws/src/fishbot_description/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>fishbot_description</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="mzebra@foxmail.com">mzebra</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

8
chapt6/chapt6_ws/src/fishbot_description/urdf/first_robot.gv Normal file
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digraph G {
node [shape=box];
"base_link" [label="base_link"];
"imu_link" [label="imu_link"];
node [shape=ellipse, color=blue, fontcolor=blue];
"base_link" -> "imu_joint" [label="xyz: 0 0 0.03 \nrpy: 0 -0 0"]
"imu_joint" -> "imu_link"
}

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chapt6/chapt6_ws/src/fishbot_description/urdf/first_robot.pdf Normal file
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chapt6/chapt6_ws/src/fishbot_description/urdf/first_robot.urdf Normal file
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<?xml version="1.0"?>
<robot name="first_robot">
<!-- 机器人身体部分 -->
<link name="base_link">
<!-- 部件外观描述 -->
<visual>
<!-- 沿自己几何中心的偏移与旋转量 -->
<origin xyz="0 0 0" rpy="0 0 0" />
<!-- 几何形状 -->
<geometry>
<!-- 圆柱体，半径0.1m，高度 0.12m -->
<cylinder length="0.12" radius="0.10" />
</geometry>
<!-- 材质子标签-蓝色 -->
<material name="blue">
<color rgba="0.1 0.1 1.0 0.5" />
</material>
</visual>
</link>
<!-- 机器人IMU部件 -->
<link name="imu_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.02 0.02 0.02" />
</geometry>
</visual>
<material name="black">
<color rgba="0 0 0 0.5" />
</material>
</link>
<!-- 机器人关节 -->
<joint name="imu_joint" type="fixed">
<!-- 父部件 -->
<parent link="base_link" />
<!-- 子部件 -->
<child link="imu_link" />
<!-- 子部件相对父部件的平移和旋转 -->
<origin xyz="0 0 0.03" rpy="0 0 0" />
</joint>
</robot>

42
chapt6/chapt6_ws/src/fishbot_description/urdf/first_robot.urdf.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="first_robot">
<!-- 声明 base 模块 -->
<xacro:macro name="base_link" params="length radius">
<link name="base_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder length="${length}" radius="${length}" />
</geometry>
<material name="blue">
<color rgba="0.1 0.1 1.0 0.5" />
</material>
</visual>
</link>
</xacro:macro>
<!-- 声明 IMU 模块 -->
<xacro:macro name="imu_link" params="imu_name xyz">
<link name="${imu_name}_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.02 0.02 0.02" />
</geometry>
</visual>
<material name="black">
<color rgba="0 0 0 0.5" />
</material>
</link>
<joint name="${imu_name}_joint" type="fixed">
<parent link="base_link" />
<child link="${imu_name}_link" />
<origin xyz="${xyz}" />
</joint>
</xacro:macro>
<!-- 传递参数调用 base_link 模块 -->
<xacro:base_link length="0.12" radius="0.1" />
<!-- 传递参数调用 imu 模块 -->
<xacro:imu_link imu_name="imu_up" xyz="0 0 0.02" />
<xacro:imu_link imu_name="imu_down" xyz="0 0 -0.02" />
</robot>

41
chapt6/chapt6_ws/src/fishbot_description/urdf/fishbot/actuator/caster.urdf.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/common_inertia.xacro" />
<xacro:macro name="caster_xacro" params="caster_name xyz">
<link name="${caster_name}_caster_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.016" />
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.8"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<sphere radius="0.016" />
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.8"/>
</material>
</collision>
<xacro:sphere_inertia m="0.01" r="0.016" />
</link>
<gazebo reference="${caster_name}_caster_link">
<mu1 value="0.0" />
<mu2 value="0.0" />
<kp value="1000000000.0" />
<kd value="1.0" />
</gazebo>
<joint name="${caster_name}_caster_joint" type="fixed">
<parent link="base_link" />
<child link="${caster_name}_caster_link" />
<origin xyz="${xyz}" />
<axis xyz="0 0 0" />
</joint>
</xacro:macro>
</robot>

40
chapt6/chapt6_ws/src/fishbot_description/urdf/fishbot/actuator/wheel.urdf.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/common_inertia.xacro" />
<xacro:macro name="wheel_xacro" params="wheel_name xyz">
<link name="${wheel_name}_wheel_link">
<visual>
<origin xyz="0 0 0" rpy="1.57079 0 0" />
<geometry>
<cylinder length="0.04" radius="0.032" />
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.8"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="1.57079 0 0" />
<geometry>
<cylinder length="0.04" radius="0.032" />
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.8"/>
</material>
</collision>
<xacro:cylinder_inertia m="0.1" h="0.04" r="0.032"/>
</link>
<gazebo reference="${wheel_name}_wheel_link">
<mu1 value="20.0" />
<mu2 value="20.0" />
<kp value="1000000000.0" />
<kd value="1.0" />
</gazebo>
<joint name="${wheel_name}_wheel_joint" type="continuous">
<parent link="base_link" />
<child link="${wheel_name}_wheel_link" />
<origin xyz="${xyz}" />
<axis xyz="0 1 0" />
</joint>
</xacro:macro>
</robot>

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chapt6/chapt6_ws/src/fishbot_description/urdf/fishbot/base.urdf.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/common_inertia.xacro" />
<xacro:macro name="base_xacro" params="length radius">
<link name="base_footprint" />
<joint name="base_joint" type="fixed">
<parent link="base_footprint" />
<child link="base_link" />
<origin xyz="0.0 0.0 ${length/2.0+0.032-0.001}" rpy="0 0 0" />
</joint>
<link name="base_link">
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
<cylinder length="${length}" radius="${length}" />
</geometry>
<material name="blue">
<color rgba="0.1 0.1 1.0 0.5"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
<cylinder length="${length}" radius="${length}" />
</geometry>
<material name="blue">
<color rgba="0.1 0.1 1.0 0.5"/>
</material>
</collision>
<xacro:cylinder_inertia m="1.0" r="${radius}" h="${length}"/>
</link>
</xacro:macro>
</robot>

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chapt6/chapt6_ws/src/fishbot_description/urdf/fishbot/common_inertia.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="box_inertia" params="m w h d">
<inertial>
<mass value="${m}" />
<inertia ixx="${(m/12) * (h*h + d*d)}" ixy="0.0" ixz="0.0" iyy="${(m/12) * (w*w + d*d)}" iyz="0.0" izz="${(m/12) * (w*w + h*h)}" />
</inertial>
</xacro:macro>
<xacro:macro name="cylinder_inertia" params="m r h">
<inertial>
<mass value="${m}" />
<inertia ixx="${(m/12) * (3*r*r + h*h)}" ixy="0" ixz="0" iyy="${(m/12) * (3*r*r + h*h)}" iyz="0" izz="${(m/2) * (r*r)}" />
</inertial>
</xacro:macro>
<xacro:macro name="sphere_inertia" params="m r">
<inertial>
<mass value="${m}" />
<inertia ixx="${(2/5) * m * (r*r)}" ixy="0.0" ixz="0.0" iyy="${(2/5) * m * (r*r)}" iyz="0.0" izz="${(2/5) * m * (r*r)}" />
</inertial>
</xacro:macro>
</robot>

41
chapt6/chapt6_ws/src/fishbot_description/urdf/fishbot/fishbot.ros2_control.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="fishbot_ros2_control">
<ros2_control name="FishBotGazeboSystem" type="system">
<hardware>
<plugin>gazebo_ros2_control/GazeboSystem</plugin>
</hardware>
<joint name="left_wheel_joint">
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="effort">
<param name="min">-0.1</param>
<param name="max">0.1</param>
</command_interface>
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
<joint name="right_wheel_joint">
<command_interface name="velocity">
<param name="min">-1</param>
<param name="max">1</param>
</command_interface>
<command_interface name="effort">
<param name="min">-0.1</param>
<param name="max">0.1</param>
</command_interface>
<state_interface name="position" />
<state_interface name="velocity" />
<state_interface name="effort" />
</joint>
</ros2_control>
<gazebo>
<plugin filename="libgazebo_ros2_control.so" name="gazebo_ros2_control">
<parameters>$(find fishbot_description)/config/fishbot_ros2_controller.yaml</parameters>
</plugin>
</gazebo>
</xacro:macro>
</robot>

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chapt6/chapt6_ws/src/fishbot_description/urdf/fishbot/fishbot.urdf.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="fishbot">
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/base.urdf.xacro" />
<!-- 传感器组件 -->
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/imu.urdf.xacro" />
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/laser.urdf.xacro" />
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/sensor/camera.urdf.xacro" />
<!-- 执行器组件 -->
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/actuator/wheel.urdf.xacro" />
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/actuator/caster.urdf.xacro" />
<xacro:base_xacro length="0.12" radius="0.1" />
<!-- 传感器 -->
<xacro:imu_xacro xyz="0 0 0.02" />
<xacro:laser_xacro xyz="0 0 0.10" />
<xacro:camera_xacro xyz="0.10 0 0.075" />
<!-- 执行器主动轮+从动轮 -->
<xacro:wheel_xacro wheel_name="left" xyz="0 0.10 -0.06" />
<xacro:wheel_xacro wheel_name="right" xyz="0 -0.10 -0.06" />
<xacro:caster_xacro caster_name="front" xyz="0.08 0.0 -0.076" />
<xacro:caster_xacro caster_name="back" xyz="-0.08 0.0 -0.076" />
<!-- Gazebo 插件 -->
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/plugins/gazebo_control_plugin.xacro" />
<!-- <xacro:gazebo_control_plugin /> -->
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/fishbot.ros2_control.xacro" />
<xacro:fishbot_ros2_control />
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/plugins/gazebo_sensor_plugin.xacro" />
<xacro:gazebo_sensor_plugin />
</robot>

31
chapt6/chapt6_ws/src/fishbot_description/urdf/fishbot/plugins/gazebo_control_plugin.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="gazebo_control_plugin">
<gazebo>
<plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
<ros>
<namespace>/</namespace>
<remapping>cmd_vel:=cmd_vel</remapping>
<remapping>odom:=odom</remapping>
</ros>
<update_rate>30</update_rate>
<!-- wheels -->
<left_joint>left_wheel_joint</left_joint>
<right_joint>right_wheel_joint</right_joint>
<!-- kinematics -->
<wheel_separation>0.2</wheel_separation>
<wheel_diameter>0.064</wheel_diameter>
<!-- limits -->
<max_wheel_torque>20</max_wheel_torque>
<max_wheel_acceleration>1.0</max_wheel_acceleration>
<!-- output -->
<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<publish_wheel_tf>true</publish_wheel_tf>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_footprint</robot_base_frame>
</plugin>
</gazebo>
</xacro:macro>
</robot>

146
chapt6/chapt6_ws/src/fishbot_description/urdf/fishbot/plugins/gazebo_sensor_plugin.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:macro name="gazebo_sensor_plugin">
<gazebo reference="laser_link">
<sensor name="laserscan" type="ray">
<plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
<ros>
<namespace>/</namespace>
<remapping>~/out:=scan</remapping>
</ros>
<output_type>sensor_msgs/LaserScan</output_type>
<frame_name>laser_link</frame_name>
</plugin>
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>5</update_rate>
<pose>0 0 0 0 0 0</pose>
<!-- 激光传感器配置 -->
<ray>
<!-- 设置扫描范围 -->
<scan>
<horizontal>
<samples>360</samples>
<resolution>1.000000</resolution>
<min_angle>0.000000</min_angle>
<max_angle>6.280000</max_angle>
</horizontal>
</scan>
<!-- 设置扫描距离 -->
<range>
<min>0.120000</min>
<max>8.0</max>
<resolution>0.015000</resolution>
</range>
<!-- 设置噪声 -->
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
</sensor>
</gazebo>
<gazebo reference="imu_link">
<sensor name="imu_sensor" type="imu">
<plugin name="imu_plugin" filename="libgazebo_ros_imu_sensor.so">
<ros>
<namespace>/</namespace>
<remapping>~/out:=imu</remapping>
</ros>
<initial_orientation_as_reference>false</initial_orientation_as_reference>
</plugin>
<update_rate>100</update_rate>
<always_on>true</always_on>
<!-- 六轴噪声设置 -->
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</z>
</linear_acceleration>
</imu>
</sensor>
</gazebo>
</xacro:macro>
<gazebo reference="camera_link">
<sensor type="depth" name="camera_sensor">
<plugin name="depth_camera" filename="libgazebo_ros_camera.so">
<frame_name>camera_optical_link</frame_name>
</plugin>
<always_on>true</always_on>
<update_rate>10</update_rate>
<camera name="camera">
<horizontal_fov>1.5009831567</horizontal_fov>
<image>
<width>800</width>
<height>600</height>
<format>R8G8B8</format>
</image>
<distortion>
<k1>0.0</k1>
<k2>0.0</k2>
<k3>0.0</k3>
<p1>0.0</p1>
<p2>0.0</p2>
<center>0.5 0.5</center>
</distortion>
</camera>
</sensor>
</gazebo>
</robot>

41
chapt6/chapt6_ws/src/fishbot_description/urdf/fishbot/sensor/camera.urdf.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/common_inertia.xacro" />
<xacro:macro name="camera_xacro" params="xyz">
<!-- ============相机模块================ -->
<link name="camera_link">
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
<box size="0.02 0.10 0.02" />
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.8"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0" />
<geometry>
<box size="0.02 0.10 0.02" />
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.8"/>
</material>
</collision>
<xacro:box_inertia m="0.01" w="0.02" h="0.10" d="0.02" />
</link>
<link name="camera_optical_link"></link>
<joint name="camera_optical_joint" type="fixed">
<parent link="camera_link" />
<child link="camera_optical_link" />
<origin xyz="0 0 0" rpy="${-pi/2} 0 ${-pi/2}" />
</joint>
<joint name="camera_joint" type="fixed">
<parent link="base_link" />
<child link="camera_link" />
<origin xyz="${xyz}" />
</joint>
</xacro:macro>
</robot>

33
chapt6/chapt6_ws/src/fishbot_description/urdf/fishbot/sensor/imu.urdf.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/common_inertia.xacro" />
<xacro:macro name="imu_xacro" params="xyz">
<link name="imu_link">
<visual>
<origin xyz="0 0 00" rpy="0 0 0" />
<geometry>
<box size="0.02 0.02 0.02" />
</geometry>
<material name="black">
<color rgba="0 0 0 0.8" />
</material>
</visual>
<collision>
<origin xyz="0 0 00" rpy="0 0 0" />
<geometry>
<box size="0.02 0.02 0.02" />
</geometry>
<material name="black">
<color rgba="0 0 0 0.8" />
</material>
</collision>
<xacro:box_inertia m="0.01" w="0.02" d="0.02" h="0.02"/>
</link>
<joint name="imu_joint" type="fixed">
<parent link="base_link" />
<child link="imu_link" />
<origin xyz="${xyz}" />
</joint>
</xacro:macro>
</robot>

73
chapt6/chapt6_ws/src/fishbot_description/urdf/fishbot/sensor/laser.urdf.xacro Normal file
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<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find fishbot_description)/urdf/fishbot/common_inertia.xacro" />
<xacro:macro name="laser_xacro" params="xyz">
<gazebo reference="laser_cylinder_link">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="laser_link">
<material>Gazebo/Black</material>
</gazebo>
<!-- ============雷达支撑杆================ -->
<link name="laser_cylinder_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder length="0.10" radius="0.01" />
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.8" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder length="0.10" radius="0.01" />
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.8" />
</material>
</collision>
<xacro:cylinder_inertia m="0.01" r="0.01" h="0.10" />
</link>
<joint name="laser_cylinder_joint" type="fixed">
<parent link="base_link" />
<child link="laser_cylinder_link" />
<origin xyz="${xyz}" />
</joint>
<!-- ============雷达================ -->
<link name="laser_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder length="0.02" radius="0.02" />
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.8" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<cylinder length="0.02" radius="0.02" />
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 0.8" />
</material>
</collision>
<xacro:cylinder_inertia m="0.03" r="0.02" h="0.02" />
</link>
<joint name="laser_joint" type="fixed">
<parent link="laser_cylinder_link" />
<child link="laser_link" />
<origin xyz="0 0 0.05" />
</joint>
</xacro:macro>
</robot>

2745
chapt6/chapt6_ws/src/fishbot_description/world/custom_room.world Normal file
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chapt6/chapt6_ws/src/fishbot_description/world/room/model.config Normal file
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<?xml version="1.0" ?>
<model>
<name>room</name>
<version>1.0</version>
<sdf version="1.7">model.sdf</sdf>
<author>
<name></name>
<email></email>
</author>
<description></description>
</model>

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<?xml version='1.0'?>
<sdf version='1.7'>
<model name='room'>
<pose>-0.972666 -0.903877 0 0 -0 0</pose>
<link name='Wall_66'>
<collision name='Wall_66_Collision'>
<geometry>
<box>
<size>19 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_66_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>19 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>0.013921 5.50955 0 0 -0 0</pose>
</link>
<link name='Wall_67'>
<collision name='Wall_67_Collision'>
<geometry>
<box>
<size>11.25 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_67_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>11.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>9.43892 -0.040455 0 0 -0 -1.5708</pose>
</link>
<link name='Wall_68'>
<collision name='Wall_68_Collision'>
<geometry>
<box>
<size>19 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_68_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>19 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>0.013921 -5.59046 0 0 -0 3.14159</pose>
</link>
<link name='Wall_69'>
<collision name='Wall_69_Collision'>
<geometry>
<box>
<size>11.25 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_69_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
<size>11.25 0.15 2.5</size>
</box>
</geometry>
<material>
<script>
<uri>file://media/materials/scripts/gazebo.material</uri>
<name>Gazebo/Grey</name>
</script>
<ambient>1 1 1 1</ambient>
</material>
<meta>
<layer>0</layer>
</meta>
</visual>
<pose>-9.41108 -0.040455 0 0 -0 1.5708</pose>
</link>
<link name='Wall_71'>
<collision name='Wall_71_Collision'>
<geometry>
<box>
<size>4.75 0.15 2.5</size>
</box>
</geometry>
<pose>0 0 1.25 0 -0 0</pose>
</collision>
<visual name='Wall_71_Visual'>
<pose>0 0 1.25 0 -0 0</pose>
<geometry>
<box>
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