ROS URDF机器人建模

秒速五厘米 2022-12-21 04:41 355阅读 0赞

# ROS URDF机器人建模 #

## 创建URDF模型 ##

(1)创建机器人描述功能包

catkin_create_pkg mrobot_description urdf xacro

(2)mrobot\_description下创建urdf, launch文件夹，在urdf文件夹内放置机器人模型的

URDF或xacro文件。launch文件夹内放置相关启动文件。

URDF例子mrobot\_chassis.urdf：

<?xml version="1.0" ?>
    <robot name="mrobot_chassis">
    
        <link name="base_link">
            <visual>
                <origin xyz=" 0 0 0" rpy="0 0 0" />
                <geometry>
                    <cylinder length="0.005" radius="0.13"/>
                </geometry>
                <material name="yellow">
                    <color rgba="1 0.4 0 1"/>
                </material>
            </visual>
        </link>
    
        <joint name="base_left_motor_joint" type="fixed">
            <origin xyz="-0.055 0.075 0" rpy="0 0 0" />        
            <parent link="base_link"/>
            <child link="left_motor" />
        </joint>
    
        <link name="left_motor">
            <visual>
                <origin xyz="0 0 0" rpy="1.5707 0 0" />
                <geometry>
                    <cylinder radius="0.02" length = "0.08"/>
                </geometry>
                <material name="gray">
                    <color rgba="0.75 0.75 0.75 1"/>
                </material>
            </visual>
        </link>
    
        <joint name="left_wheel_joint" type="continuous">
            <origin xyz="0 0.0485 0" rpy="0 0 0"/>
            <parent link="left_motor"/>
            <child link="left_wheel_link"/>
            <axis xyz="0 1 0"/>
        </joint>
    
        <link name="left_wheel_link">
            <visual>
                <origin xyz="0 0 0" rpy="1.5707 0 0" />
                <geometry>
                    <cylinder radius="0.033" length = "0.017"/>
                </geometry>
                <material name="white">
                    <color rgba="1 1 1 0.9"/>
                </material>
            </visual>
        </link>
    
        <joint name="base_right_motor_joint" type="fixed">
            <origin xyz="-0.055 -0.075 0" rpy="0 0 0" />        
            <parent link="base_link"/>
            <child link="right_motor" />
        </joint>
    
        <link name="right_motor">
            <visual>
                <origin xyz="0 0 0" rpy="1.5707 0 0" />
                <geometry>
                    <cylinder radius="0.02" length = "0.08" />
                </geometry>
                <material name="gray">
                    <color rgba="0.75 0.75 0.75 1"/>
                </material>
            </visual>
        </link>
    
        <joint name="right_wheel_joint" type="continuous">
            <origin xyz="0 -0.0485 0" rpy="0 0 0"/>
            <parent link="right_motor"/>
            <child link="right_wheel_link"/>
            <axis xyz="0 1 0"/>
        </joint>
    
        <link name="right_wheel_link">
            <visual>
                <origin xyz="0 0 0" rpy="1.5707 0 0" />
                <geometry>
                    <cylinder radius="0.033" length = "0.017"/>
                </geometry>
                <material name="white">
                    <color rgba="1 1 1 0.9"/>
                </material>
            </visual>
        </link>
    
        <joint name="front_caster_joint" type="fixed">
            <origin xyz="0.1135 0 -0.0165" rpy="0 0 0"/>
            <parent link="base_link"/>
            <child link="front_caster_link"/>
        </joint>
    
        <link name="front_caster_link">
            <visual>
                <origin xyz="0 0 0" rpy="1.5707 0 0"/>
                <geometry>
                    <sphere radius="0.0165" />
                </geometry>
                <material name="black">
                    <color rgba="0 0 0 0.95"/>
                </material>
            </visual>
        </link>
    
    </robot>

(3)urdf提供一些命令行工具，用于检测模型文件。安装命令

sudo apt-get install liburdfdom-tools

使用check\_urdf命令对mrobot\_chassis.urdf文件进行检查, 终端会显示如下所示信息。

$ check_urdf mrobot_chassis.urdf
    robot name is: mrobot_chassis
    ---------- Successfully Parsed XML ---------------
    root Link: base_link has 3 child(ren)
        child(1):  left_motor
            child(1):  left_wheel_link
        child(2):  right_motor
            child(1):  right_wheel_link
        child(3):  front_caster_link

使用urdf\_to\_graphiz命令查看urdf模型整体结构，会生成如下一个pdf文件。

$ urdf_to_graphiz mrobot_chassis.urdf
    Created file mrobot_chassis.gv
    Created file mrobot_chassis.pdf

\[外链图片转存失败,源站可能有防盗链机制,建议将图片保存下来直接上传(img-eofvUUhi-1605342281577)(/mnt/hgfs/ROSNote/docs/image/mrobot-chassis-urdf整体结构.png)\]

## 在rviz中显示URDF模型 ##

（1）在mrobot\_description功能包的launch文件夹中创建用于显示mrobot\_chassis模型的launch文件display\_mrobot\_chassis\_urdf.launch，内容如下

执行启动命令，启动如下窗口，但是显示界面了出现Global Status:Error, Fixed Frame错误。

需要进行一些设置才能正常显示模型，把FixedFrame下拉选项中选择base\_link, 点击左下角add按钮，增加一个RobotModel。

roslaunch mrobot_description display_mrobot_chassis_urdf.launch

![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0dhbGF4eV9Sb2JvdA_size_16_color_FFFFFF_t_70_pic_center]

![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0dhbGF4eV9Sb2JvdA_size_16_color_FFFFFF_t_70_pic_center 1]

最后显示的模型如下图所示

![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0dhbGF4eV9Sb2JvdA_size_16_color_FFFFFF_t_70_pic_center 2]

## 改进URDF模型 ##

### 添加物理和碰撞属性 ###

在base\_link中加入和标签，描述机器人的物理属性和碰撞属性。

<?xml version="1.0" ?>
    <robot name="mrobot_chassis">
        <link name="base_link">
    	<inertial>
    	    <mass value="2" />
    	    <origin xyz="0 0 0" />
    	    <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.5" />
    	</inertial>
    
            <visual>
                <origin xyz=" 0 0 0" rpy="0 0 0" />
                <geometry>
                    <cylinder length="0.005" radius="0.13"/>
                </geometry>
                <material name="yellow">
                    <color rgba="1 0.4 0 1"/>
                </material>
            </visual>
    	<collision>
    	    <origin xyz=" 0 0 0" rpy="0 0 0" />
                <geometry>
                    <cylinder length="0.005" radius="0.13"/>
                </geometry>
    	</collision>
        </link>

### 使用xacro优化URDF ###

URDF文件不支持代码复用的特性。xacro是URDF的升级版，后缀名为xacro。具有以下几点突出优势

（1）精简模型代码。可以通过宏创建的方式定义常量或复用代码。

（2）提供可编程接口。支持一些可编程接口，如常量、变量、数学公式、条件语句等

在模型标签中需要加入xacro声明：

### 常量定义及调用 ###

定义常量方便改动机器人模型的参数。

定义

<xacro:property name="M_PI" value="3.14159" />

调用

### 调用数学公式 ###

在"$\{\}"语句中，不仅可以调用常量，也可以使用一些常用的数学公式，如加，减，除，负号，括号等，例如：

### 使用宏定义 ###

xacro文件可以使用宏定义来声明重复使用的代码模块，而且可以包含输入参数，类似编程中的函数概念。

<xacro:macro name="mrobot_standoff_2in" params="parent number x_loc y_loc z_loc">
            <joint name="standoff_2in_${number}_joint" type="fixed">
                <origin xyz="${x_loc} ${y_loc} ${z_loc}" rpy="0 0 0" />
                <parent link="${parent}"/>
                <child link="standoff_2in_${number}_link" />
            </joint>
    
            <link name="standoff_2in_${number}_link">
                <inertial>
                    <mass value="0.001" />
                    <origin xyz="0 0 0" />
                    <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
                </inertial>
    
                <visual>
                    <origin xyz=" 0 0 0 " rpy="0 0 0" />
                    <geometry>
                        <box size="0.01 0.01 0.07" />
                    </geometry>
                    <material name="black">
                        <color rgba="0.16 0.17 0.15 0.9"/>
                    </material>
                </visual>
    
                <collision>
                    <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
                    <geometry>
                        <box size="0.01 0.01 0.07" />
                    </geometry>
                </collision>
            </link>
        </xacro:macro>

如上定义了一个宏mrobot\_standoff\_2in，包含五个输入参数。调用该宏模块时，使用如下语句调用，设置输入参数即可：

<mrobot_standoff_2in parent="base_link" number="4" x_loc="${standoff_x/2}" y_loc="${standoff_y}" z_loc="${plate_height/2}"/>

### xacro文件引用 ###

改进后的机器人模型文件是mrobot.urdf.xacro, 详细内容如下

<?xml version="1.0"?>
    <robot name="mrobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
    
        <xacro:include filename="$(find mrobot_description)/urdf/mrobot_body.urdf.xacro" />
    
        
        <mrobot_body/>
    
    </robot>

标签之间只有两行代码。

<xacro:include filename="$(find mrobot_description)/urdf/mrobot_body.urdf.xacro" />

第一行代码描述了该xacro文件所包含的其他xacro文件。声明关系后就可以调用被包含文件中的模块了。

<mrobot_body/>

第二行代码就调用了被包含文件mrobot\_body.urdf.xacro中的机器人模型的一个宏定义mrbot\_body，该宏定义了整个机器人本体模型。

mrobot\_body.urdf.xacro的内容如下

<?xml version="1.0"?>
    <robot xmlns:xacro="http://www.ros.org/wiki/xacro">
    
        <xacro:property name="M_PI" value="3.14159"/>
        <xacro:property name="wheel_radius" value="0.033"/>
        <xacro:property name="wheel_length" value="0.017"/>
        <xacro:property name="base_link_radius" value="0.13"/>
        <xacro:property name="base_link_length" value="0.005"/>
        <xacro:property name="motor_radius" value="0.02"/>
        <xacro:property name="motor_length" value="0.08"/>
        <xacro:property name="motor_x" value="-0.055"/>
        <xacro:property name="motor_y" value="0.075"/>
        <xacro:property name="plate_height" value="0.07"/>
        <xacro:property name="standoff_x" value="0.12"/>
        <xacro:property name="standoff_y" value="0.10"/>
    
        
        <xacro:macro name="mrobot_standoff_2in" params="parent number x_loc y_loc z_loc">
            <joint name="standoff_2in_${number}_joint" type="fixed">
                <origin xyz="${x_loc} ${y_loc} ${z_loc}" rpy="0 0 0" />
                <parent link="${parent}"/>
                <child link="standoff_2in_${number}_link" />
            </joint>
    
            <link name="standoff_2in_${number}_link">
                <inertial>
                    <mass value="0.001" />
                    <origin xyz="0 0 0" />
                    <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
                </inertial>
    
                <visual>
                    <origin xyz=" 0 0 0 " rpy="0 0 0" />
                    <geometry>
                        <box size="0.01 0.01 0.07" />
                    </geometry>
                    <material name="black">
                        <color rgba="0.16 0.17 0.15 0.9"/>
                    </material>
                </visual>
    
                <collision>
                    <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
                    <geometry>
                        <box size="0.01 0.01 0.07" />
                    </geometry>
                </collision>
            </link>
        </xacro:macro>
    
        <xacro:macro name="mrobot_body">
            <material name="Green">
                <color rgba="0.0 0.8 0.0 1.0"/>
            </material>
            <material name="yellow">
                <color rgba="1 0.4 0 1"/>
            </material>
            <material name="black">
                <color rgba="0 0 0 0.95"/>
            </material>
            <material name="gray">
                <color rgba="0.75 0.75 0.75 1"/>
            </material>
    
            <link name="base_footprint">
                <visual>
                    <origin xyz="0 0 0" rpy="0 0 0" />
                    <geometry>
                        <box size="0.001 0.001 0.001" />
                    </geometry>
                </visual>
            </link>
    
            <link name="base_link">
                <inertial>
                    <mass value="2" />
                    <origin xyz="0 0 0.0" />
                    <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.5" />
                </inertial>
    
                <visual>
                    <origin xyz=" 0 0 0" rpy="0 0 0" />
                    <geometry>
                        <cylinder length="${base_link_length}" radius="${base_link_radius}"/>
                    </geometry>
                    <material name="yellow" />
                </visual>
    
                <collision>
                    <origin xyz="0 0 0" rpy="0 0 0" />
                    <geometry>
                        <cylinder length="${base_link_length}" radius="${base_link_radius}"/>
                    </geometry>
                </collision>
            </link>
    
            <joint name="base_footprint_joint" type="fixed">
                <origin xyz="0 0 ${wheel_radius}" rpy="0 0 0" />        
                <parent link="base_footprint"/>
                <child link="base_link" />
            </joint>
    
            <link name="left_motor">
                <inertial>
                    <origin xyz="0.0 0 0"/>
                    <mass value="0.1" />
                    <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
                </inertial>
    
                <visual>
                    <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
                    <geometry>
                        <cylinder radius="${motor_radius}" length = "${motor_length}"/>
                    </geometry>
                    <material name="gray" />
                </visual>
    
                <collision>
                    <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
                    <geometry>
                        <cylinder radius="${motor_radius}" length = "${motor_length}"/>
                    </geometry>
                </collision>
            </link>
    
            <joint name="base_left_motor_joint" type="fixed">
                <origin xyz="${motor_x} ${motor_y} 0" rpy="0 0 0" />        
                <parent link="base_link"/>
                <child link="left_motor" />
            </joint>
    
    
            <link name="left_wheel_link">
                <inertial>
                    <origin xyz="0 0 0"/>
                    <mass value="0.01" />
                    <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
                </inertial>
    
                <visual>
                    <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
                    <geometry>
                        <cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
                    </geometry>
                    <material name="white">
                        <color rgba="1 1 1 0.9"/>
                    </material>
                </visual>
    
                <collision>
                    <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
                    <geometry>
                        <cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
                    </geometry>
                </collision>
            </link>
    
            <joint name="left_wheel_joint" type="continuous">
                <origin xyz="0 ${(motor_length+wheel_length)/2} 0" rpy="0 0 0"/>
                <parent link="left_motor"/>
                <child link="left_wheel_link"/>
                <axis xyz="0 1 0"/>
            </joint>
    
            <link name="right_motor">
                <inertial>
                    <origin xyz="0.0 0 0"/>
                    <mass value="0.1" />
                    <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
                </inertial>
    
                <visual>
                    <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
                    <geometry>
                        <cylinder radius="${motor_radius}" length = "${motor_length}" />
                    </geometry>
                    <material name="gray" />
                </visual>
    
                <collision>
                    <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
                    <geometry>
                        <cylinder radius="${motor_radius}" length = "${motor_length}"/>
                    </geometry>
                </collision>
            </link>
    
            <joint name="base_right_motor_joint" type="fixed">
                <origin xyz="${motor_x} -${motor_y} 0" rpy="0 0 0" />        
                <parent link="base_link"/>
                <child link="right_motor" />
            </joint>
    
            <link name="right_wheel_link">
                <inertial>
                    <origin xyz="0 0 0"/>
                    <mass value="0.01" />
                    <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
                </inertial>
    
                <visual>
                    <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
                    <geometry>
                        <cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
                    </geometry>
                    <material name="white">
                        <color rgba="1 1 1 0.9"/>
                    </material>
                </visual>
    
                <collision>
                    <origin xyz="0 0 0" rpy="${M_PI/2} 0 0" />
                    <geometry>
                        <cylinder radius="${wheel_radius}" length = "${wheel_length}"/>
                    </geometry>
                </collision>
            </link>
    
            <joint name="right_wheel_joint" type="continuous">
                <origin xyz="0 -${(motor_length+wheel_length)/2} 0" rpy="0 0 0"/>
                <parent link="right_motor"/>
                <child link="right_wheel_link"/>
                <axis xyz="0 1 0"/>
            </joint>
    
            <link name="front_caster_link">
                <inertial>
                    <origin xyz="0 0 0"/>
                    <mass value="0.001" />
                    <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001" />
                </inertial>
    
                <visual>
                    <origin xyz="0 0 0" rpy="${M_PI/2} 0 0"/>
                    <geometry>
                        <sphere radius="${wheel_radius/2}" />
                    </geometry>
                    <material name="black" />
                </visual>
    
                <collision>
                    <origin xyz="0 0 0.01" rpy="${M_PI/2} 0 0" />
                    <geometry>
                        <sphere radius="${wheel_radius/2}" />
                    </geometry>
                </collision>
            </link>
    
            <joint name="front_caster_joint" type="fixed">
                <origin xyz="${base_link_radius-wheel_radius/2} 0 -${wheel_radius/2}" rpy="0 0 0"/>
                <parent link="base_link"/>
                <child link="front_caster_link"/>
            </joint>
    
            <mrobot_standoff_2in parent="base_link" number="1" x_loc="-${standoff_x/2 + 0.03}" y_loc="-${standoff_y - 0.03}" z_loc="${plate_height/2}"/>
            <mrobot_standoff_2in parent="base_link" number="2" x_loc="-${standoff_x/2 + 0.03}" y_loc="${standoff_y - 0.03}" z_loc="${plate_height/2}"/>
            <mrobot_standoff_2in parent="base_link" number="3" x_loc="${standoff_x/2}" y_loc="-${standoff_y}" z_loc="${plate_height/2}"/>
            <mrobot_standoff_2in parent="base_link" number="4" x_loc="${standoff_x/2}" y_loc="${standoff_y}" z_loc="${plate_height/2}"/>
    
            <joint name="plate_1_joint" type="fixed">
                <origin xyz="0 0 ${plate_height}" rpy="0 0 0" />
                <parent link="base_link"/>
                <child link="plate_1_link" />
            </joint>
    
            <link name="plate_1_link">
                <inertial>
                    <mass value="0.1" />
                    <origin xyz="0 0 0" />
                    <inertia ixx="0.01" ixy="0.0" ixz="0.0" iyy="0.01" iyz="0.0" izz="0.01" />
                </inertial>
    
                <visual>
                    <origin xyz=" 0 0 0 " rpy="0 0 0" />
                    <geometry>
                        <cylinder length="${base_link_length}" radius="${base_link_radius}"/>
                    </geometry>
                    <material name="yellow"/>
                </visual>
    
                <collision>
                    <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
                    <geometry>
                        <cylinder length="${base_link_length}" radius="${base_link_radius}"/>
                    </geometry>
                </collision>
            </link>
    
    
            <mrobot_standoff_2in parent="standoff_2in_1_link" number="5" x_loc="0" y_loc="0" z_loc="${plate_height}"/>
            <mrobot_standoff_2in parent="standoff_2in_2_link" number="6" x_loc="0" y_loc="0" z_loc="${plate_height}"/>
            <mrobot_standoff_2in parent="standoff_2in_3_link" number="7" x_loc="0" y_loc="0" z_loc="${plate_height}"/>
            <mrobot_standoff_2in parent="standoff_2in_4_link" number="8" x_loc="0" y_loc="0" z_loc="${plate_height}"/>
    
            <joint name="plate_2_joint" type="fixed">
                <origin xyz="0 0 ${plate_height}" rpy="0 0 0" />
                <parent link="plate_1_link"/>
                <child link="plate_2_link" />
            </joint>
    
            <link name="plate_2_link">
                <inertial>
                    <mass value="0.01" />
                    <origin xyz="0 0 0" />
                    <inertia ixx="0.001" ixy="0.0" ixz="0.0" iyy="0.001" iyz="0.0" izz="0.001" />
                </inertial>
    
                <visual>
                    <origin xyz=" 0 0 0 " rpy="0 0 0" />
                    <geometry>
                        <cylinder length="${base_link_length}" radius="${base_link_radius}"/>
                    </geometry>
                    <material name="yellow" />
                </visual>
    
                <collision>
                    <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
                    <geometry>
                        <cylinder length="${base_link_length}" radius="${base_link_radius}"/>
                    </geometry>
                </collision>
            </link>
    
        </xacro:macro>
    
    </robot>

### 显示优化后的模型 ###

xacro文件设计完成后，有两种方式在rviz中显示模型。

1.将xacro文件转换成URDF文件, 命令如下

rosrun xacro xacro.py mrobot.urdf.xacro >mrobot.urdf

这时候会生成一个新的URDF文件mrobot.urdf，使用上面launch文件可将URDF模型显示在rviz中。注意所使用了URDF文件名在launch文件中做相应修改。

launch文件内容如下

1.  直接调用xacro文件解析器
    
    在launch文件中做如下配置，再运动启动文件即可。

launch文件的内容如下

显示的模型如下图所示

![在这里插入图片描述][watermark_type_ZmFuZ3poZW5naGVpdGk_shadow_10_text_aHR0cHM6Ly9ibG9nLmNzZG4ubmV0L0dhbGF4eV9Sb2JvdA_size_16_color_FFFFFF_t_70_pic_center 3]

到此，使用URDF建模的过程就走一遍了。

## 参考文献 ##

\[1\]胡春旭. ROS机器人开发实践\[M\]. 机械工业出版社, 北京, 2018.5

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