Ailibot模型入门教程-gazebo中加载模型

文章说明

• 本教程主要介绍使用gazebo中加载改良过的模型包
• 本教程所提及改良过的仿真ROS包已上传gitee | 获取地址

工具安装

• 使用开源代码部署工具RCM部署源码
• 1. 安装RCM工具

curl https://www.ncnynl.com/rcm.sh | bash -

• 2. 部署代码

cs -s install_ros1_ailibot_model

• 安装完成后，代码已经编译好，位于~/ros1_ailibot_model_new_ws目录

操作步骤

• 加载模型

$ source ~/ros1_ailibot_model_new_ws/devel/setup.bash
$ roslaunch ailibot_model emtpy_world.launch

• 查看TF树

$ rosrun rqt_tf_tree rqt_tf_tree

• 效果如图

• 查看话题信息

$ rostopic list
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/depth/camera_info
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_raw/theora
/camera/depth/image_raw/theora/parameter_descriptions
/camera/depth/image_raw/theora/parameter_updates
/camera/infra1/camera_info
/camera/infra1/image_raw
/camera/infra1/image_raw/compressed
/camera/infra1/image_raw/compressed/parameter_descriptions
/camera/infra1/image_raw/compressed/parameter_updates
/camera/infra1/image_raw/compressedDepth
/camera/infra1/image_raw/compressedDepth/parameter_descriptions
/camera/infra1/image_raw/compressedDepth/parameter_updates
/camera/infra1/image_raw/theora
/camera/infra1/image_raw/theora/parameter_descriptions
/camera/infra1/image_raw/theora/parameter_updates
/camera/infra2/camera_info
/camera/infra2/image_raw
/camera/infra2/image_raw/compressed
/camera/infra2/image_raw/compressed/parameter_descriptions
/camera/infra2/image_raw/compressed/parameter_updates
/camera/infra2/image_raw/compressedDepth
/camera/infra2/image_raw/compressedDepth/parameter_descriptions
/camera/infra2/image_raw/compressedDepth/parameter_updates
/camera/infra2/image_raw/theora
/camera/infra2/image_raw/theora/parameter_descriptions
/camera/infra2/image_raw/theora/parameter_updates
/clicked_point
/clock
/cmd_vel
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/performance_metrics
/gazebo/set_link_state
/gazebo/set_model_state
/imu/data
/initialpose
/joint_states
/move_base_simple/goal
/odom
/rosout
/rosout_agg
/scan
/tf
/tf_static

• 启动键盘控制节点，尝试控制移动

$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

演示视频

• 网站视频如果看不清，可以点视频到哔哩哔哩查看高清版本

<iframe height=498 width=100% src="//player.bilibili.com/player.html?aid=490164806&bvid=BV1SN411B7xt&cid=1246054338&page=1&as_wide=1&high_quality=1&danmaku=0" scrolling="no" border="0" frameborder="no" framespacing="0" allowfullscreen="true"> </iframe>