<robot name="阿童木">
<link name="大手臂">具体的描述</link>
<joint name="胳膊肘">具体的描述</joint>
<link name="小手臂">具体的描述</link>
</robot>

<?xml version="1.0"?>
<robot name="fishbot">
  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.18" radius="0.06"/>
      </geometry>
    </visual>
  </link>
</robot>

<link name="base_link">

  </link>

<?xml version="1.0"?>
<robot name="fishbot">

  <!-- base link -->
  <link name="base_link">
      <visual>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.12" radius="0.10"/>
      </geometry>
    </visual>
  </link>

  <!-- laser link -->
  <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 0.5" /> 
      </material>
    </visual>
  </link>

  <!-- laser joint -->
    <joint name="laser_joint" type="fixed">
        <parent link="base_link" />
        <child link="laser_link" />
        <origin xyz="0 0 0.075" />
    </joint>

</robot>

<?xml version="1.0"?>
<robot name="fishbot">

  <!-- base link -->
  <link name="base_link">
      <visual>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.12" radius="0.10"/>
      </geometry>
    </visual>
  </link>

  <!-- laser link -->
  <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>
  </link>

  <!-- laser joint -->
    <joint name="laser_joint" type="fixed">
        <parent link="base_link" />
        <child link="laser_link" />
        <origin xyz="0 0 0.075" />
    </joint>

</robot>

import os
from launch import LaunchDescription
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    package_name = 'fishbot_description'
    urdf_name = "fishbot_base.urdf"

    ld = LaunchDescription()
    pkg_share = FindPackageShare(package=package_name).find(package_name) 
    urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')

    robot_state_publisher_node = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        arguments=[urdf_model_path]
        )

    joint_state_publisher_node = Node(
        package='joint_state_publisher_gui',
        executable='joint_state_publisher_gui',
        name='joint_state_publisher_gui',
        arguments=[urdf_model_path]
        )

    rviz2_node = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        output='screen',
        )

    ld.add_action(robot_state_publisher_node)
    ld.add_action(joint_state_publisher_node)
    ld.add_action(rviz2_node)

    return ld

from setuptools import setup
from glob import glob
import os

package_name = 'fishbot_description'

setup(
    name=package_name,
    version='0.0.0',
    packages=[package_name],
    data_files=[
        ('share/ament_index/resource_index/packages',
            ['resource/' + package_name]),
        ('share/' + package_name, ['package.xml']),
        (os.path.join('share', package_name, 'launch'), glob('launch/*.launch.py')),
        (os.path.join('share', package_name, 'urdf'), glob('urdf/**')),
    ],
    install_requires=['setuptools'],
    zip_safe=True,
    maintainer='root',
    maintainer_email='root@todo.todo',
    description='TODO: Package description',
    license='TODO: License declaration',
    tests_require=['pytest'],
    entry_points={
        'console_scripts': [
        ],
    },
)

<link name="base_link">
    <visual>
        <origin xyz="0 0 0.0" rpy="0 0 0"/>
    <geometry>
        <cylinder length="0.12" radius="0.10"/>
    </geometry>
    <material name="blue">
        <color rgba="0.1 0.1 1.0 0.5" /> 
    </material>
    </visual>
</link>

<!-- imu link -->
  <link name="imu_link">
      <visual>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
      <geometry>
            <box size="0.02 0.02 0.02"/>
      </geometry>
    </visual>
  </link>

  <!-- imu joint -->
  <joint name="imu_joint" type="fixed">
      <parent link="base_link" />
      <child link="imu_link" />
      <origin xyz="0 0 0.02" />
  </joint>

<link name="right_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 0.5" /> 
          </material>
      </visual>
  </link>

<link name="left_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 0.5" /> 
          </material>
      </visual>
  </link>

  <joint name="left_wheel_joint" type="continuous">
      <parent link="base_link" />
      <child link="left_wheel_link" />
      <origin xyz="-0.02 0.10 -0.06" />
      <axis xyz="0 1 0" />
  </joint>

<link 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 0.5" /> 
        </material>
    </visual>
  </link>

  <joint name="caster_joint" type="fixed">
      <parent link="base_link" />
      <child link="caster_link" />
      <origin xyz="0.06 0.0 -0.076" />
  </joint>

<?xml version="1.0"?>
<robot name="fishbot">

  <!-- base link -->
  <link name="base_link">
      <visual>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.12" radius="0.10"/>
      </geometry>
      <material name="blue">
          <color rgba="0.1 0.1 1.0 0.5" /> 
      </material>
    </visual>
  </link>

  <!-- laser link -->
  <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 0.5" /> 
      </material>
    </visual>
  </link>

  <!-- laser joint -->
  <joint name="laser_joint" type="fixed">
      <parent link="base_link" />
      <child link="laser_link" />
      <origin xyz="0 0 0.075" />
  </joint>

  <link name="imu_link">
      <visual>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
      <geometry>
            <box size="0.02 0.02 0.02"/>
      </geometry>
    </visual>
  </link>

  <!-- imu joint -->
  <joint name="imu_joint" type="fixed">
      <parent link="base_link" />
      <child link="imu_link" />
      <origin xyz="0 0 0.02" />
  </joint>


  <link name="left_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 0.5" /> 
          </material>
      </visual>
  </link>

  <joint name="left_wheel_joint" type="continuous">
      <parent link="base_link" />
      <child link="left_wheel_link" />
      <origin xyz="-0.02 0.10 -0.06" />
      <axis xyz="0 1 0" />
  </joint>

  <link name="right_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 0.5" /> 
          </material>
      </visual>
  </link>

  <joint name="right_wheel_joint" type="continuous">
      <parent link="base_link" />
      <child link="right_wheel_link" />
      <origin xyz="-0.02 -0.10 -0.06" />
      <axis xyz="0 1 0" />
  </joint>

  <link name="caster_link">
    <visual>
      <origin xyz="0 0 0" rpy="1.57079 0 0"/>
      <geometry>
          <sphere radius="0.016"/>
      </geometry>
        <material name="black">
          <color rgba="0.0 0.0 0.0 0.5" /> 
        </material>
    </visual>
  </link>

  <joint name="caster_joint" type="fixed">
      <parent link="base_link" />
      <child link="caster_link" />
      <origin xyz="0.06 0.0 -0.076" />
      <axis xyz="0 1 0" />
  </joint>



</robot>

<!-- Robot Footprint -->
  <link name="base_footprint"/>

  <joint name="base_joint" type="fixed">
    <parent link="base_footprint"/>
    <child link="base_link"/>
    <origin xyz="0.0 0.0 0.076" rpy="0 0 0"/>
  </joint>

#!/usr/bin/env python3
import rclpy
from rclpy.node import Node


class RotateWheelNode(Node):
    def __init__(self,name):
        super().__init__(name)
        self.get_logger().info(f"node {name} init..")

def main(args=None):
    """
    ros2运行该节点的入口函数
    1. 导入库文件
    2. 初始化客户端库
    3. 新建节点
    4. spin循环节点
    5. 关闭客户端库
    """
    rclpy.init(args=args) # 初始化rclpy
    node = RotateWheelNode("rotate_fishbot_wheel")  # 新建一个节点
    rclpy.spin(node) # 保持节点运行，检测是否收到退出指令（Ctrl+C）
    rclpy.shutdown() # 关闭rclpy

entry_points={
        'console_scripts': [
            "rotate_wheel= fishbot_description.rotate_wheel:main"
        ],
    },

#!/usr/bin/env python3
import rclpy
from rclpy.node import Node
# 1.导入消息类型JointState
from sensor_msgs.msg import JointState

class RotateWheelNode(Node):
    def __init__(self,name):
        super().__init__(name)
        self.get_logger().info(f"node {name} init..")
        # 2.创建并初始化发布者成员属性pub_joint_states_
        self.pub_joint_states_ = self.create_publisher(JointState,"joint_states", 10)

import threading
from rclpy.node import Node

class RotateWheelNode(Node):
    def __init__(self):
        # 创建一个Rate和线程
        self.pub_rate = self.create_rate(5) #5Hz
        # 创建线程
        self.thread_ = threading.Thread(target=self._thread_pub)
        self.thread_.start()

    def _thread_pub(self):
        while rclpy.ok():
            #做一些操作，使用rate保证循环频率
            self.pub_rate.sleep()

self.joint_states.name = ['left_wheel_joint','right_wheel_joint']

#!/usr/bin/env python3
import rclpy
from rclpy.node import Node
# 1.导入消息类型JointState
from sensor_msgs.msg import JointState

import threading
import time

class RotateWheelNode(Node):
    def __init__(self,name):
        super().__init__(name)
        self.get_logger().info(f"node {name} init..")
        # 创建并初始化发布者成员属性pub_joint_states_
        self.joint_states_publisher_ = self.create_publisher(JointState,"joint_states", 10) 
        # 初始化数据
        self._init_joint_states()
        self.pub_rate = self.create_rate(30)
        self.thread_ = threading.Thread(target=self._thread_pub)
        self.thread_.start()


    def _init_joint_states(self):
        # 初始左右轮子的速度
        self.joint_speeds = [0.0,0.0]
        self.joint_states = JointState()
        self.joint_states.header.stamp = self.get_clock().now().to_msg()
        self.joint_states.header.frame_id = ""
        # 关节名称
        self.joint_states.name = ['left_wheel_joint','right_wheel_joint']
        # 关节的位置
        self.joint_states.position = [0.0,0.0]
        # 关节速度
        self.joint_states.velocity = self.joint_speeds
        # 力 
        self.joint_states.effort = []

    def update_speed(self,speeds):
        self.joint_speeds = speeds

    def _thread_pub(self):
        last_update_time = time.time()
        while rclpy.ok():
            delta_time =  time.time()-last_update_time
            last_update_time = time.time()
            # 更新位置
            self.joint_states.position[0]  += delta_time*self.joint_states.velocity[0]
            self.joint_states.position[1]  += delta_time*self.joint_states.velocity[1]
            # 更新速度
            self.joint_states.velocity = self.joint_speeds
            # 更新 header
            self.joint_states.header.stamp = self.get_clock().now().to_msg()
            # 发布关节数据
            self.joint_states_publisher_.publish(self.joint_states)
            self.pub_rate.sleep()

def main(args=None):
    rclpy.init(args=args) # 初始化rclpy
    node = RotateWheelNode("rotate_fishbot_wheel")  # 新建一个节点
    node.update_speed([15.0,-15.0])
    rclpy.spin(node) # 保持节点运行，检测是否收到退出指令（Ctrl+C）
    rclpy.shutdown() # 关闭rclpy

# ld.add_action(joint_state_publisher_node)
ld.add_action(robot_state_publisher_node)
ld.add_action(rviz2_node)


<collision>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.12" radius="0.10"/>
      </geometry>
      <material name="blue">
          <color rgba="0.1 0.1 1.0 0.5" /> 
      </material>
    </collision>


<inertial>
      <mass value="0.2"/>
      <inertia ixx="0.0122666" ixy="0" ixz="0" iyy="0.0122666" iyz="0" izz="0.02"/>
    </inertial>


<gazebo reference="caster_link">
    <mu1 value="0.0"/>
    <mu2 value="0.0"/>
    <kp value="1000000.0" />
    <kd value="10.0" />
  </gazebo>


<!-- base link -->
  <link name="base_link">
      <visual>
      <origin xyz="0 0 0.0" rpy="0 0 0"/>
      <geometry>
        <cylinder length="0.12" radius="0.10"/>
      </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="0.12" radius="0.10"/>
      </geometry>
      <material name="blue">
          <color rgba="0.1 0.1 1.0 0.5" /> 
      </material>
    </collision>
    <inertial>
      <mass value="0.2"/>
      <inertia ixx="0.0122666" ixy="0" ixz="0" iyy="0.0122666" iyz="0" izz="0.02"/>
    </inertial>
  </link>


import os
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    robot_name_in_model = 'fishbot'
    package_name = 'fishbot_description'
    urdf_name = "fishbot_gazebo.urdf"

    ld = LaunchDescription()
    pkg_share = FindPackageShare(package=package_name).find(package_name) 
    urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')

    # Start Gazebo server
    start_gazebo_cmd =  ExecuteProcess(
        cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so'],
        output='screen')

    # Launch the robot
    spawn_entity_cmd = Node(
        package='gazebo_ros', 
        executable='spawn_entity.py',
        arguments=['-entity', robot_name_in_model,  '-file', urdf_model_path ], output='screen')

    ld.add_action(start_gazebo_cmd)
    ld.add_action(spawn_entity_cmd)


    return ld


<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>0.065</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>

import os
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    robot_name_in_model = 'fishbot'
    package_name = 'fishbot_description'
    urdf_name = "fishbot_gazebo.urdf"

    ld = LaunchDescription()
    pkg_share = FindPackageShare(package=package_name).find(package_name) 
    urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')

    # Start Gazebo server
    start_gazebo_cmd =  ExecuteProcess(
        cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so', gazebo_world_path],
        output='screen')

    # Launch the robot
    spawn_entity_cmd = Node(
        package='gazebo_ros', 
        executable='spawn_entity.py',
        arguments=['-entity', robot_name_in_model,  '-file', urdf_model_path ], output='screen')

    # Start Robot State publisher
    start_robot_state_publisher_cmd = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        arguments=[urdf_model_path]
    )

    # Launch RViz
    start_rviz_cmd = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        output='screen',
        # arguments=['-d', default_rviz_config_path]
        )

    ld.add_action(start_gazebo_cmd)
    ld.add_action(spawn_entity_cmd)
    ld.add_action(start_robot_state_publisher_cmd)
    ld.add_action(start_rviz_cmd)


    return ld


<gazebo reference="imu_link">
      <sensor name="imu_sensor" type="imu">
      <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
          <ros>
            <namespace>/</namespace>
            <remapping>~/out:=imu</remapping>
          </ros>
          <initial_orientation_as_reference>false</initial_orientation_as_reference>
        </plugin>
        <always_on>true</always_on>
        <update_rate>100</update_rate>
        <visualize>true</visualize>
        <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>


<!-- Gazebo ROS Control -->
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/</robotNamespace>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
    </plugin>
  </gazebo>

  <!-- 为左右轮添加传输 -->
  <gazebo reference="left_wheel_link">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <kp>1000000.0</kp>
    <kd>1.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>

  <gazebo reference="right_wheel_link">
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <kp>1000000.0</kp>
    <kd>1.0</kd>
    <minDepth>0.001</minDepth>
    <maxVel>1.0</maxVel>
  </gazebo>


import os
from launch import LaunchDescription
from launch.actions import ExecuteProcess, TimerAction
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from ament_index_python.packages import get_package_share_directory


def generate_launch_description():
    robot_name_in_model = 'fishbot'
    package_name = 'fishbot_description'
    urdf_name = "fishbot_base.urdf"

    ld = LaunchDescription()
    pkg_share = FindPackageShare(package=package_name).find(package_name) 
    urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')

    # 启动 Gazebo 服务器（使用更好的参数）
    start_gazebo_cmd = ExecuteProcess(
        cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so', '-s', 'libgazebo_ros_init.so', 'worlds/empty.world'],
        output='screen'
    )

    # 使用 TimerAction 延迟生成实体，确保 Gazebo 完全启动
    spawn_entity_cmd = TimerAction(
        period=5.0,  # 等待 5 秒
        actions=[
            Node(
                package='gazebo_ros',
                executable='spawn_entity.py',
                arguments=[
                    '-entity', robot_name_in_model,
                    '-file', urdf_model_path,
                    '-x', '0.0',
                    '-y', '0.0', 
                    '-z', '0.1'
                ],
                output='screen'
            )
        ]
    )

    ld.add_action(start_gazebo_cmd)
    ld.add_action(spawn_entity_cmd)

    return ld


<gazebo reference="laser_link">
      <sensor name="laser_sensor" type="ray">
      <always_on>true</always_on>
      <visualize>true</visualize>
      <update_rate>5</update_rate>
      <pose>0 0 0.075 0 0 0</pose>
      <ray>
          <scan>
            <horizontal>
              <samples>360</samples>
              <resolution>1.000000</resolution>
              <min_angle>0.000000</min_angle>
              <max_angle>6.280000</max_angle>
            </horizontal>
          </scan>
          <range>
            <min>0.120000</min>
            <max>3.5</max>
            <resolution>0.015000</resolution>
          </range>
          <noise>
            <type>gaussian</type>
            <mean>0.0</mean>
            <stddev>0.01</stddev>
          </noise>
      </ray>

      <plugin name="laserscan" 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>
    </gazebo>

配置项	含义
ros	ros相关配置，包含命名空间和话题重映射等
update_rate	数据更新速率
left_joint	左轮关节名称
right_joint	右轮关节名称
wheel_separation	左右轮子的间距
wheel_diameter	轮子的直径
max_wheel_torque	轮子最大的力矩
max_wheel_acceleration	轮子最大的加速度
publish_odom	是否发布里程计
publish_odom_tf	是否发布里程计的tf开关
publish_wheel_tf	是否发布轮子的tf数据开关
odometry_frame	里程计的framed ID，最终体现在话题和TF上
robot_base_frame	机器人的基础frame的ID

URDF¶

URDF的组成¶

声明信息¶

两种关键组件(Joint&Link)¶

Link¶

link标签¶

Joint¶

Joint标签¶

RVIZ2 可视化 URDF 模型¶

建立功能包¶

创建urdf文件夹编写urdf文件¶

创建launch文件夹编写launch文件¶

修改setup.py编译测试¶

创建一个两轮差速模型¶

添加imu¶

添加右轮¶

添加左轮¶

添加支撑轮¶

最终URDF文件¶

编译测试¶

如何让车轮着地¶

通过JiontStates控制RVIZ2关节¶

新建节点¶

创建发布者¶

编写发布逻辑¶

编译测试¶

机器人仿真介绍¶

为机器人URDF模型添加物理参数¶

物理参数¶

完整base_link如下¶

Gazebo加载URDF¶

Gazebo插件¶

调用服务加载机器人¶

将启动gazebo和生产fishbot写成launch文件¶

Gazebo仿真插件之两轮差速¶

Gazebo插件介绍¶

两轮差速插件介绍¶

在URDF中配置两轮差速模型¶

两轮差速插件测试¶

Gazebo仿真插件之IMU¶

urdf¶

编译测试¶

解决gazebo失败方案¶

Gazebo仿真插件之激光雷达¶

urdf¶

编译测试¶