Ailibot2仿真入门教程-加载Ailibot2的SDF模型到gazebo

文章说明

• 本教程主要介绍如何加载Ailibot2的SDF模型到gazebo

操作步骤

• 启动gazebo仿真，加载Ailibot2的SDF模型

$ ros2 launch ailibot2_bringup robot_sim_with_sdf.launch.py use_rviz:=true
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2023-09-07-12-05-31-122302-ailibotOS-VM-8978
[INFO] [launch]: Default logging verbosity is set to INFO
 GAZEBO_MODEL_PATH:  /usr/share/gazebo-11/models::/home/ubuntu/ros2_ailibot2_sim_ws/install/ailibot2_description/share/ailibot2_description/meshes 
[INFO] [robot_state_publisher-1]: process started with pid [8981]
[INFO] [gzserver-2]: process started with pid [8983]
[INFO] [gzclient   -3]: process started with pid [8985]
[INFO] [spawn_entity.py-4]: process started with pid [8988]
[robot_state_publisher-1] Link base_link had 8 children
[robot_state_publisher-1] Link camera_bottom_screw_frame had 1 children
[robot_state_publisher-1] Link camera_link had 1 children
[robot_state_publisher-1] Link camera_depth_frame had 4 children
[robot_state_publisher-1] Link camera_color_frame had 1 children
[robot_state_publisher-1] Link camera_color_optical_frame had 0 children
[robot_state_publisher-1] Link camera_depth_optical_frame had 0 children
[robot_state_publisher-1] Link camera_left_ir_frame had 1 children
[robot_state_publisher-1] Link camera_left_ir_optical_frame had 0 children
[robot_state_publisher-1] Link camera_right_ir_frame had 1 children
[robot_state_publisher-1] Link camera_right_ir_optical_frame had 0 children
[robot_state_publisher-1] Link caster_back_link had 0 children
[robot_state_publisher-1] Link caster_front_link had 0 children
[robot_state_publisher-1] Link imu_link had 0 children
[robot_state_publisher-1] Link laser_link had 0 children
[robot_state_publisher-1] Link sonar_front_link had 0 children
[robot_state_publisher-1] Link wheel_left_link had 0 children
[robot_state_publisher-1] Link wheel_right_link had 0 children
[robot_state_publisher-1] [INFO] [1694059532.660441133] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-1] [INFO] [1694059532.660568092] [robot_state_publisher]: got segment base_link
[robot_state_publisher-1] [INFO] [1694059532.660581127] [robot_state_publisher]: got segment camera_bottom_screw_frame
[robot_state_publisher-1] [INFO] [1694059532.660586826] [robot_state_publisher]: got segment camera_color_frame
[robot_state_publisher-1] [INFO] [1694059532.660591711] [robot_state_publisher]: got segment camera_color_optical_frame
[robot_state_publisher-1] [INFO] [1694059532.660610149] [robot_state_publisher]: got segment camera_depth_frame
[robot_state_publisher-1] [INFO] [1694059532.660617151] [robot_state_publisher]: got segment camera_depth_optical_frame
[robot_state_publisher-1] [INFO] [1694059532.660621725] [robot_state_publisher]: got segment camera_left_ir_frame
[robot_state_publisher-1] [INFO] [1694059532.660626340] [robot_state_publisher]: got segment camera_left_ir_optical_frame
[robot_state_publisher-1] [INFO] [1694059532.660630679] [robot_state_publisher]: got segment camera_link
[robot_state_publisher-1] [INFO] [1694059532.660635211] [robot_state_publisher]: got segment camera_right_ir_frame
[robot_state_publisher-1] [INFO] [1694059532.660639759] [robot_state_publisher]: got segment camera_right_ir_optical_frame
[robot_state_publisher-1] [INFO] [1694059532.660644230] [robot_state_publisher]: got segment caster_back_link
[robot_state_publisher-1] [INFO] [1694059532.660648655] [robot_state_publisher]: got segment caster_front_link
[robot_state_publisher-1] [INFO] [1694059532.660652978] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-1] [INFO] [1694059532.660657278] [robot_state_publisher]: got segment laser_link
[robot_state_publisher-1] [INFO] [1694059532.660661839] [robot_state_publisher]: got segment sonar_front_link
[robot_state_publisher-1] [INFO] [1694059532.660666095] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-1] [INFO] [1694059532.660670503] [robot_state_publisher]: got segment wheel_right_link
[spawn_entity.py-4] [INFO] [1694059533.453061905] [spawn_entity]: Spawn Entity started
[spawn_entity.py-4] [INFO] [1694059533.453582284] [spawn_entity]: Loading entity XML from file /home/ubuntu/ros2_ailibot2_sim_ws/install/ailibot2_gazebo/share/ailibot2_gazebo/models/ailibot2/d2/ailibot_d2.sdf
[spawn_entity.py-4] [INFO] [1694059533.466719430] [spawn_entity]: Waiting for service /spawn_entity, timeout = 5
[spawn_entity.py-4] [INFO] [1694059533.467070718] [spawn_entity]: Waiting for service /spawn_entity
[spawn_entity.py-4] [INFO] [1694059535.376824884] [spawn_entity]: Calling service /spawn_entity
[spawn_entity.py-4] [INFO] [1694059536.590096599] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [ailibot2]
[INFO] [spawn_entity.py-4]: process has finished cleanly [pid 8988]
[gzserver-2] [INFO] [1694059537.684684673] [GazeboRealsenseNode]: Realsense Gazebo ROS plugin loading.
[gzserver-2] 
[gzserver-2] RealSensePlugin: The realsense_camera plugin is attach to model ailibot2
[gzserver-2] [INFO] [1694059538.412087799] [GazeboRealsenseNode]: Loaded Realsense Gazebo ROS plugin.
[gzserver-2] [INFO] [1694059538.537634923] [diff_drive]: Wheel pair 1 separation set to [0.325140m]
[gzserver-2] [INFO] [1694059538.537767828] [diff_drive]: Wheel pair 1 diameter set to [0.115000m]
[gzserver-2] [INFO] [1694059538.539091745] [diff_drive]: Subscribed to [/cmd_vel]
[gzserver-2] [INFO] [1694059538.572421130] [diff_drive]: Advertise odometry on [/odom]
[gzserver-2] [INFO] [1694059538.610411054] [diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[gzserver-2] [INFO] [1694059538.678657658] [joint_state]: Going to publish joint [wheel_left_joint]
[gzserver-2] [INFO] [1694059538.678744839] [joint_state]: Going to publish joint [wheel_right_joint]
[gzclient   -3] context mismatch in svga_surface_destroy
[gzclient   -3] context mismatch in svga_surface_destroy

• 可选参数：
  • 场景类型：world_type:=basic
  • robot类型：robot_type:=d2，可选择d2/d4/o3/o4/m4
  • 模型类型：model_type:=d2，可选择d2或d2_ekf等

![请输入图片描述][1]

• 查看话题

$ ros2 topic list
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/depth/camera_info
/camera/depth/color/points
/camera/depth/image_rect_raw
/camera/depth/image_rect_raw/compressed
/camera/infra1/camera_info
/camera/infra1/image_raw
/camera/infra1/image_raw/compressed
/camera/infra2/camera_info
/camera/infra2/image_raw
/camera/infra2/image_raw/compressed
/clock
/cmd_vel
/imu/data
/joint_states
/odom
/parameter_events
/performance_metrics
/robot_description
/rosout
/scan
/sensor/sonar_front
/tf
/tf_static

• 当前展示[ailibot2-d2][2]SDF模型的具体代码

<?xml version="1.0" ?>
<sdf version="1.5">
  <model name="ailibot_d2">  
  <static>false</static>

  <!-- ****************** ROBOT BASE FOOTPRINT ***************************  -->
  <pose>0.0 0.0 0 0.0 0.0 0.0</pose>
  <link name="base_footprint"/>

  <!-- ********************** ROBOT BASE *********************************  -->
  <link name="base_link">
    <collision name="base_collision">
      <pose>0 0 0.0448 0 0 0</pose>
      <geometry>
        <cylinder>
          <radius>0.12657</radius>
          <length>0.09</length>
        </cylinder>
      </geometry>
    </collision>

<collision name="laser_collision">
  <pose>0 0 0.1685 0 0 0</pose>
  <geometry>
    <cylinder>
      <radius>0.035</radius>
      <length>0.058</length>
    </cylinder>
  </geometry>
</collision>

<visual name="laser_visual">
  <pose>0 0 0.185 0 0 0</pose>
  <geometry>
    <mesh>
      <uri>model://sensors/laser/rplidar-a1.STL</uri>
    </mesh>
  </geometry>
  <material>
    <ambient>0.0 0.0 0.0 1.0</ambient>
    <diffuse>0.0 0.0 0.0 1.0</diffuse>
    <specular>0.0 0.0 0.0 1.0</specular>
    <emissive>0.0 0.0 0.0 1.0</emissive>
  </material>
</visual>

<sensor name="laser" type="ray">
  <always_on>true</always_on>
  <visualize>false</visualize>
  <update_rate>5</update_rate>
  <ray>
    <scan>
      <horizontal>
        <samples>360</samples>
        <resolution>1.000000</resolution>
        <min_angle>-3.14159</min_angle>
        <max_angle>3.14159</max_angle>
      </horizontal>
    </scan>
    <range>
      <min>0.3</min>
      <max>15.0</max>
      <resolution>0.015</resolution>
    </range>
    <noise>
      <type>gaussian</type>
      <mean>0.0</mean>
      <stddev>0.01</stddev>
    </noise>
  </ray>
  <plugin name="scan" filename="libgazebo_ros_ray_sensor.so">
    <ros>
      <remapping>~/out:=scan</remapping>
    </ros>
    <output_type>sensor_msgs/LaserScan</output_type>
    <frame_name>laser_link</frame_name>
  </plugin>
</sensor>

<sensor name="cameradepth" type="depth">
  <camera name="camera">
    <horizontal_fov>1.57</horizontal_fov>
    <image>
      <width>1280</width>
      <height>720</height>
    </image>
    <clip>
      <near>0.1</near>
      <far>100</far>
    </clip>
    <noise>
      <type>gaussian</type>
      <mean>0.0</mean>
      <stddev>0.100</stddev>
    </noise>
  </camera>
  <always_on>1</always_on>
  <update_rate>30</update_rate>
  <visualize>0</visualize>
</sensor>
<sensor name="cameracolor" type="camera">
  <camera name="camera">
    <horizontal_fov>1.57</horizontal_fov>
    <image>
      <width>1280</width>
      <height>720</height>
      <format>RGB_INT8</format>
    </image>
    <clip>
      <near>0.1</near>
      <far>100</far>
    </clip>
    <noise>
      <type>gaussian</type>
      <mean>0.0</mean>
      <stddev>0.007</stddev>
    </noise>
  </camera>
  <always_on>1</always_on>
  <update_rate>30</update_rate>
  <visualize>0</visualize>
</sensor>
<sensor name="cameraired1" type="camera">
  <camera name="camera">
    <horizontal_fov>1.57</horizontal_fov>
    <image>
      <width>1280</width>
      <height>720</height>
      <format>L_INT8</format>
    </image>
    <clip>
      <near>0.1</near>
      <far>100</far>
    </clip>
    <noise>
      <type>gaussian</type>
      <mean>0.0</mean>
      <stddev>0.05</stddev>
    </noise>
  </camera>
  <always_on>1</always_on>
  <update_rate>1</update_rate>
  <visualize>0</visualize>
</sensor>
<sensor name="cameraired2" type="camera">
  <camera name="camera">
    <horizontal_fov>1.57</horizontal_fov>
    <image>
      <width>1280</width>
      <height>720</height>
      <format>L_INT8</format>
    </image>
    <clip>
      <near>0.1</near>
      <far>100</far>
    </clip>
    <noise>
      <type>gaussian</type>
      <mean>0.0</mean>
      <stddev>0.05</stddev>
    </noise>
  </camera>
  <always_on>1</always_on>
  <update_rate>1</update_rate>
  <visualize>0</visualize>
</sensor>

<plugin name="camera" filename="librealsense_gazebo_plugin.so">
  <prefix>camera</prefix>
  <depthUpdateRate>30.0</depthUpdateRate>
  <colorUpdateRate>30.0</colorUpdateRate>
  <infraredUpdateRate>1.0</infraredUpdateRate>
  <depthTopicName>/camera/depth/image_rect_raw</depthTopicName>
  <depthCameraInfoTopicName>/camera/depth/camera_info</depthCameraInfoTopicName>
  <colorTopicName>/camera/color/image_raw</colorTopicName>
  <colorCameraInfoTopicName>/camera/color/camera_info</colorCameraInfoTopicName>
  <infrared1TopicName>/camera/infra1/image_raw</infrared1TopicName>
  <infrared1CameraInfoTopicName>/camera/infra1/camera_info</infrared1CameraInfoTopicName>
  <infrared2TopicName>/camera/infra2/image_raw</infrared2TopicName>
  <infrared2CameraInfoTopicName>infra2/camera_info</infrared2CameraInfoTopicName>
  <colorOpticalframeName>camera_color_optical_frame</colorOpticalframeName>
  <depthOpticalframeName>camera_depth_optical_frame</depthOpticalframeName>
  <infrared1OpticalframeName>camera_left_ir_optical_frame</infrared1OpticalframeName>
  <infrared2OpticalframeName>camera_right_ir_optical_frame</infrared2OpticalframeName>
  <rangeMinDepth>0.3</rangeMinDepth>
  <rangeMaxDepth>3.0</rangeMaxDepth>
  <pointCloud>true</pointCloud>
  <pointCloudTopicName>/camera/depth/color/points</pointCloudTopicName>
  <pointCloudCutoff>0.3</pointCloudCutoff>
</plugin>

<visual name="wheel_left_visual">
  <geometry>
    <mesh>
      <uri>model://d2/wheel_left.STL</uri>
    </mesh>
  </geometry>
</visual>

<visual name="wheel_right_visual">
  <geometry>
    <mesh>
      <uri>model://d2/wheel_right.STL</uri>
    </mesh>
  </geometry>
</visual>

<update_rate>30</update_rate>

<!-- wheels -->
<left_joint>wheel_left_joint</left_joint>
<right_joint>wheel_right_joint</right_joint>

<!-- kinematics -->
<wheel_separation>0.32514</wheel_separation>
<wheel_diameter>0.115</wheel_diameter>

<!-- limits -->
<max_wheel_torque>20</max_wheel_torque>
<max_wheel_acceleration>1.0</max_wheel_acceleration>

<!-- Receive velocity commands on this ROS topic -->
<command_topic>cmd_vel</command_topic>

<!-- output -->
<!-- When false, publish no wheel odometry data to a ROS topic -->
<publish_odom>true</publish_odom>

<!-- When true, publish coordinate transform from odom to base_footprint -->
<!-- I usually use the robot_localization package to publish this transform -->   
<publish_odom_tf>true</publish_odom_tf>

<!-- When true, publish coordinate transform from base_link to the wheels -->
<!-- The robot_state_publisher package is often used to publish this transform -->   
<publish_wheel_tf>false</publish_wheel_tf>

<odometry_topic>odom</odometry_topic>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_footprint</robot_base_frame>

<!-- Odometry source, 0 for ENCODER, 1 for WORLD, defaults to WORLD -->
<odometry_source>1</odometry_source>

<!-- Change the ROS topic we will publish the odometry data to -->
<ros>
  <!-- <remapping>odom:=wheel/odometry</remapping> -->
  <!-- <remapping>odom:=whe</remapping> -->
</ros>

[1]: http:///images.ncnynl.com/ros2/2023/ailibot2-sim-gazebo-load_sdf_model.png
  [2]: https://gitee.com/ncnynl/ailibot2_sim/blob/master/ailibot2_gazebo/models/ailibot2/d2/ailibot_d2.sdf