(相关资料图)

博客地址：https://www.cnblogs.com/zylyehuo/

gazebo小车模型创建及键盘操控详见之前的博客

gazebo小车模型（附带仿真环境） - zylyehuo - 博客园

使用键盘控制gazebo小车模型运动 - zylyehuo - 博客园

参考链接

Autolabor-ROS机器人入门课程《ROS理论与实践》

Part 1 : 里程计查看

效果图

step1: 添加需要的文件

src/mycar/config/test.rviz

Panels:  - Class: rviz/Displays    Help Height: 78    Name: Displays    Property Tree Widget:      Expanded:        - /Global Options1        - /Status1        - /RobotModel1        - /TF1        - /Odometry1        - /Odometry1/Shape1      Splitter Ratio: 0.5    Tree Height: 670  - Class: rviz/Selection    Name: Selection  - Class: rviz/Tool Properties    Expanded:      - /2D Pose Estimate1      - /2D Nav Goal1      - /Publish Point1    Name: Tool Properties    Splitter Ratio: 0.5886790156364441  - Class: rviz/Views    Expanded:      - /Current View1    Name: Views    Splitter Ratio: 0.5  - Class: rviz/Time    Experimental: false    Name: Time    SyncMode: 0    SyncSource: ""Preferences:  PromptSaveOnExit: trueToolbars:  toolButtonStyle: 2Visualization Manager:  Class: ""  Displays:    - Alpha: 0.5      Cell Size: 1      Class: rviz/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:       Value: true    - Alpha: 1      Class: rviz/RobotModel      Collision Enabled: false      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        back_wheel:          Alpha: 1          Show Axes: false          Show Trail: false          Value: true        base_footprint:          Alpha: 1          Show Axes: false          Show Trail: false          Value: true        base_link:          Alpha: 1          Show Axes: false          Show Trail: false          Value: true        camera:          Alpha: 1          Show Axes: false          Show Trail: false          Value: true        front_wheel:          Alpha: 1          Show Axes: false          Show Trail: false          Value: true        laser:          Alpha: 1          Show Axes: false          Show Trail: false          Value: true        left_wheel:          Alpha: 1          Show Axes: false          Show Trail: false          Value: true        right_wheel:          Alpha: 1          Show Axes: false          Show Trail: false          Value: true        support:          Alpha: 1          Show Axes: false          Show Trail: false          Value: true      Name: RobotModel      Robot Description: robot_description      TF Prefix: ""      Update Interval: 0      Value: true      Visual Enabled: true    - Class: rviz/TF      Enabled: false      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: false    - Angle Tolerance: 0.10000000149011612      Class: rviz/Odometry      Covariance:        Orientation:          Alpha: 0.5          Color: 255; 255; 127          Color Style: Unique          Frame: Local          Offset: 1          Scale: 1          Value: true        Position:          Alpha: 0.30000001192092896          Color: 204; 51; 204          Scale: 1          Value: true        Value: true      Enabled: true      Keep: 10      Name: Odometry      Position Tolerance: 0.10000000149011612      Shape:        Alpha: 1        Axes Length: 1        Axes Radius: 0.10000000149011612        Color: 255; 25; 0        Head Length: 0.30000001192092896        Head Radius: 0.05000000074505806        Shaft Length: 1        Shaft Radius: 0.009999999776482582        Value: Arrow      Topic: /odom      Unreliable: false      Value: true  Enabled: true  Global Options:    Background Color: 48; 48; 48    Default Light: true    Fixed Frame: odom    Frame Rate: 30  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      Theta std deviation: 0.2617993950843811      Topic: /initialpose      X std deviation: 0.5      Y std deviation: 0.5    - 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: 6.243990898132324      Enable Stereo Rendering:        Stereo Eye Separation: 0.05999999865889549        Stereo Focal Distance: 1        Swap Stereo Eyes: false        Value: false      Focal Point:        X: -0.6781591773033142        Y: 0.7335925102233887        Z: -0.1656564623117447      Focal Shape Fixed Size: true      Focal Shape Size: 0.05000000074505806      Invert Z Axis: false      Name: Current View      Near Clip Distance: 0.009999999776482582      Pitch: 0.3703985810279846      Target Frame:       Value: Orbit (rviz)      Yaw: 0.8403980731964111    Saved: ~Window Geometry:  Displays:    collapsed: false  Height: 967  Hide Left Dock: false  Hide Right Dock: false  QMainWindow State: 000000ff00000000fd00000004000000000000015600000329fc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d00000329000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f00000329fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000003d00000329000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000062d0000003efc0100000002fb0000000800540069006d006501000000000000062d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000003bc0000032900000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000  Selection:    collapsed: false  Time:    collapsed: false  Tool Properties:    collapsed: false  Views:    collapsed: false  Width: 1581  X: 67  Y: 27

src/mycar/launch/sensor.launch

step2: 运行

在终端启动roscore

roscore

启动gazebo

source ./devel/setup.bashroslaunch mycar environment.launch

启动rviz

source ./devel/setup.bashroslaunch mycar sensor.launch

启动键盘控制

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.3 _turn:=0.5

Part 2 : 雷达仿真

效果图

step1: 添加需要的文件

src/mycar/urdf/gazebo/laser.xacro

              0 0 0 0 0 0      true      5.5                                    360            1            -3            3                                    0.10          30.0          0.01                          gaussian          0.0          0.01                            /scan        <frameName>laser</frameName>            

src/mycar/urdf/xacro/car.urdf.xacro

step2: 运行

在终端启动roscore

roscore

启动gazebo

source ./devel/setup.bashroslaunch mycar environment.launch

启动rviz

source ./devel/setup.bashroslaunch mycar sensor.launch

step3: 配置 rviz

Part 3 : 摄像头仿真

效果图

step1: 添加需要的文件

src/mycar/urdf/gazebo/camera.xacro

            30.0                    1.3962634                  1280          720          R8G8B8                          0.02          300                          gaussian          0.0          0.007                                  true        0.0        /camera        image_raw        camera_info        <frameName>camera</frameName>        0.07        0.0        0.0        0.0        0.0        0.0            

src/mycar/urdf/xacro/car.urdf.xacro

step2: 运行

在终端启动roscore

roscore

启动gazebo

source ./devel/setup.bashroslaunch mycar environment.launch

启动rviz

source ./devel/setup.bashroslaunch mycar sensor.launch

启动键盘控制

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.3 _turn:=0.5

step3: 配置 rviz

step4: 打开终端，使小车在rviz中旋转

输入以下指令

rostopic pub -r 10 /cmd_vel geometry_msgs/Twist "linear:  x: 0.0  y: 0.0  z: 0.0angular:  x: 0.0  y: 0.0  z: 0.5"

Part 4 : 深度相机仿真

效果图

step1: 添加需要的文件

src/mycar/urdf/gazebo/kinect.xacro

                    true        20.0                  ${60.0*PI/180.0}                      R8G8B8            640            480                                0.05            8.0                                    camera          true          10          rgb/image_raw          depth/image_raw          depth/points          rgb/camera_info          depth/camera_info          <frameName>support</frameName>          0.1          0.0          0.0          0.0          0.0          0.0          0.4                  

src/mycar/urdf/xacro/car.urdf.xacro

step2: 运行

在终端启动roscore

roscore

启动gazebo

source ./devel/setup.bashroslaunch mycar environment.launch

启动rviz

source ./devel/setup.bashroslaunch mycar sensor.launch

启动键盘控制

rosrun teleop_twist_keyboard teleop_twist_keyboard.py _speed:=0.3 _turn:=0.5

step3: 配置 rviz

step4: 打开终端，使小车在rviz中旋转

输入以下指令

rostopic pub -r 10 /cmd_vel geometry_msgs/Twist "linear:  x: 0.0  y: 0.0  z: 0.0angular:  x: 0.0  y: 0.0  z: 0.5"

Part 5 : 深度相机仿真（点云）

效果图

step1: 添加需要的文件

src/mycar/urdf/gazebo/kinect.xacro

                    true        20.0                  ${60.0*PI/180.0}                      R8G8B8            640            480                                0.05            8.0                                    camera          true          10          rgb/image_raw          depth/image_raw          depth/points          rgb/camera_info          depth/camera_info          <frameName>support_depth</frameName>          0.1          0.0          0.0          0.0          0.0          0.0          0.4                  

src/mycar/launch/sensor.launch

step2: 运行

在终端启动roscore

roscore

启动gazebo

source ./devel/setup.bashroslaunch mycar environment.launch

启动rviz

source ./devel/setup.bashroslaunch mycar sensor.launch

step3: 配置 rviz

step4: 打开终端，使小车在rviz中旋转

输入以下指令

rostopic pub -r 10 /cmd_vel geometry_msgs/Twist "linear:  x: 0.0  y: 0.0  z: 0.0angular:  x: 0.0  y: 0.0  z: 0.3"