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  机器人运动学&机器人动力学 | 版主： @xpm00

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  网上找了一个urdf代码，通过launch文件在rviz中启动，模型是正常的，于是就尝试添加gazebo的颜色标签，通过launch文件将urdf代码加载进gazebo中进行显示。发现无法显示，卡了很久了，该launch文件没有问题，加载其余的可以在gazebo中正常显示。为什么只加了gazebo颜色标签却无法显示呢。下面是urdf代码部分

  <?xml version="1.0" encoding="utf-8"?>
  <robot name="mini_akm_robot">

  <link name="base_footprint">

  </link>
  <link name="base_link">
  <inertial>
  <origin
  xyz="-0.0119754973846389 -0.000133372463647142 0.021017784029409" rpy="0 0 0" />
  <mass
  value="0.431538267108837" />
  <inertia
  ixx="0.00025452933099881"
  ixy="1.90798049636859E-06"
  ixz="-8.81627294628033E-07"
  iyy="0.00037243817570695"
  iyz="4.03071469874943E-07"
  izz="0.000540327179164314" />
  </inertial>
  <visual>
  <origin xyz="0 0 0" rpy="0 0 0" />
  <geometry>
  <mesh filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/base_link.STL" />
  </geometry>
  <material name="white">
  <color rgba="1 1 1 1"/>
  </material>
  </visual>
  <collision>
  <origin xyz="0 0 0" rpy="0 0 0" />
  <geometry>
  <mesh
  filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/base_link.STL" />
  </geometry>
  </collision>
  </link>
  <gazebo reference="base_link">
  <material>Gazebo/White</material>
  </gazebo>

  <joint name="base_joint" type="fixed">
  <parent link="base_footprint" />
  <child link="base_link" />
  <origin xyz="0.0 0.0 0.022" rpy="0 0 0" />
  </joint>

  <link name="lb_link">
  <inertial>
  <origin
  xyz="-1.74588455068014E-07 -0.000208203511794444 3.83077326214509E-08"
  rpy="0 0 0" />
  <mass
  value="0.0456749740999707" />
  <inertia
  ixx="1.81808801892974E-05"
  ixy="-1.7622297358917E-11"
  ixz="3.41287253300913E-12"
  iyy="3.14403863492233E-05"
  iyz="1.33311989069345E-11"
  izz="1.81803662298203E-05" />
  </inertial>
  <visual>
  <origin xyz="0 0 0" rpy="0 0 0" />
  <geometry>
  <mesh
  filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/lb_link.STL" />
  </geometry>
  <material name="black">
  <color rgba="0 0 0 1"/>
  </material>
  </visual>
  <collision>
  <origin
  xyz="0 0 0"
  rpy="0 0 0" />
  <geometry>
  <mesh
  filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/lb_link.STL" />
  </geometry>
  </collision>
  </link>

  <gazebo reference="lb_link">
  <material>Gazebo/Black</material>
  </gazebo>
  <joint name="lb_joint"
  type="continuous">
  <origin xyz="-0.069657 0.07975 0.0162" rpy="0 0 0" />
  <parent
  link="base_link" />
  <child
  link="lb_link" />
  <axis
  xyz="0 -1 0" />
  </joint>
  <link name="rb_link">
  <inertial>
  <origin
  xyz="-1.21641156911045E-07 0.000208202847118158 3.82869461863777E-08"
  rpy="0 0 0" />
  <mass
  value="0.0456749740269158" />
  <inertia
  ixx="1.81808800640407E-05"
  ixy="-1.76128053558607E-11"
  ixz="-3.39346241698698E-12"
  iyy="3.14403861845454E-05"
  iyz="-1.33298144631598E-11"
  izz="1.81803661907041E-05" />
  </inertial>
  <visual>
  <origin
  xyz="0 0 0"
  rpy="0 0 0" />
  <geometry>
  <mesh
  filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/rb_link.STL" />
  </geometry>
  <material name="black">
  <color rgba="0 0 0 1"/>
  </material>
  </visual>
  <collision>
  <origin
  xyz="0 0 0"
  rpy="0 0 0" />
  <geometry>
  <mesh
  filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/rb_link.STL" />
  </geometry>
  </collision>
  </link>
  <gazebo reference="rb_link">
  <material>Gazebo/Black</material>
  </gazebo>

  <joint name="rb_joint"
  type="continuous">
  <origin
  xyz="-0.069657 -0.079776 0.0162"
  rpy="0 0 0" />
  <parent
  link="base_link" />
  <child
  link="rb_link" />
  <axis
  xyz="0 -1 0" />
  </joint>

  <link name="laser_link">
  <inertial>
  <origin
  xyz="0.00196458631092469 -3.57895453832374E-06 -0.000201831632616292"
  rpy="0 0 0" />
  <mass
  value="0.0477519163756088" />
  <inertia
  ixx="3.38461999756745E-05"
  ixy="-2.19897168323003E-09"
  ixz="1.07118468678157E-06"
  iyy="3.94150415873187E-05"
  iyz="6.83978024968062E-10"
  izz="5.60787042126573E-05" />
  </inertial>
  <visual>
  <origin
  xyz="0 0 0"
  rpy="0 0 0" />
  <geometry>
  <mesh
  filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/laser.STL" />
  </geometry>
  <material name="blue">
  <color rgba="0 0 0.4 1"/>
  </material>
  </visual>
  <collision>
  <origin
  xyz="0 0 0"
  rpy="0 0 0" />
  <geometry>
  <mesh
  filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/laser.STL" />
  </geometry>
  </collision>
  </link>
  <gazebo reference="laser_link">
  <material>Gazebo/Blue</material>
  </gazebo>

  <joint name="laser_joint"
  type="fixed">
  <origin
  xyz="0.051343 -1.2576E-05 0.094524"
  rpy="0 0 3.1416" />
  <parent
  link="base_link" />
  <child
  link="laser_link" />
  <axis
  xyz="0 0 0" />
  </joint>

  <link name="left_link">
  <inertial>
  <origin
  xyz="-0.00429085747483857 0.0111736945302178 -0.0110145847149603"
  rpy="0 0 0" />
  <mass
  value="0.00476959924663217" />
  <inertia
  ixx="2.06909949437508E-07"
  ixy="-1.04973296356064E-07"
  ixz="-1.49927893294707E-09"
  iyy="3.93341439527907E-07"
  iyz="-5.98007533541798E-10"
  izz="4.63369851558769E-07" />
  </inertial>
  <visual>
  <origin
  xyz="0 0 0"
  rpy="0 0 0" />
  <geometry>
  <mesh
  filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/left_link.STL" />
  </geometry>
  <material name="black">
  <color rgba="0 0 0 1"/>
  </material>
  </visual>
  <collision>
  <origin
  xyz="0 0 0"
  rpy="0 0 0" />
  <geometry>
  <mesh
  filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/left_link.STL" />
  </geometry>
  </collision>
  </link>
  <gazebo reference="left_link">
  <material>Gazebo/Black</material>
  </gazebo>

  <joint name="left_joint"
  type="revolute">
  <origin
  xyz="0.073593 0.051987 0.022"
  rpy="0 0 0" />
  <parent
  link="base_link" />
  <child
  link="left_link" />
  <axis
  xyz="0 0 -1" />
  <limit
  lower="-0.39"
  upper="0.39"
  effort="0"
  velocity="0" />
  </joint>
  <link name="lf_link">
  <inertial>
  <origin
  xyz="-1.41585548674161E-07 1.91747322367264E-07 -4.64079716027549E-08"
  rpy="0 0 0" />
  <mass
  value="0.0441313542614254" />
  <inertia
  ixx="1.8122375254286E-05"
  ixy="1.01605691640891E-11"
  ixz="3.10311319459123E-12"
  iyy="3.14074902671165E-05"
  iyz="-3.35423251171137E-13"
  izz="1.81223732297953E-05" />
  </inertial>
  <visual>
  <origin
  xyz="0 0 0"
  rpy="0 0 0" />
  <geometry>
  <mesh
  filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/lf_link.STL" />
  </geometry>
  <material name="black">
  <color rgba="0 0 0 1"/>
  </material>
  </visual>
  <collision>
  <origin
  xyz="0 0 0"
  rpy="0 0 0" />
  <geometry>
  <mesh
  filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/lf_link.STL" />
  </geometry>
  </collision>
  </link>
  <gazebo reference="lf_link">
  <material>Gazebo/Black</material>
  </gazebo>

  <joint name="lf_joint"
  type="continuous">
  <origin
  xyz="0 0.0301260014087184 -0.0109999999999987"
  rpy="0 0 0" />
  <parent
  link="left_link" />
  <child
  link="lf_link" />
  <axis
  xyz="0 -1 0" />
  </joint>
  <link name="right_link">
  <inertial>
  <origin
  xyz="-0.00429085795403265 -0.0111736943537972 -0.0109854152864204"
  rpy="0 0 0" />
  <mass
  value="0.00476959923857933" />
  <inertia
  ixx="2.06909958805082E-07"
  ixy="1.0497330410809E-07"
  ixz="1.4992787833529E-09"
  iyy="3.9334142732894E-07"
  iyz="-5.98007566775091E-10"
  izz="4.63369848741371E-07" />
  </inertial>
  <visual>
  <origin
  xyz="0 0 0"
  rpy="0 0 0" />
  <geometry>
  <mesh
  filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/right_link.STL" />
  </geometry>
  <material name="black">
  <color rgba="0 0 0 1"/>
  </material>
  </visual>
  <collision>
  <origin
  xyz="0 0 0"
  rpy="0 0 0" />
  <geometry>
  <mesh
  filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/right_link.STL" />
  </geometry>
  </collision>
  </link>
  <gazebo reference="right_link">
  <material>Gazebo/Black</material>
  </gazebo>

  <joint name="right_joint"
  type="revolute">
  <origin
  xyz="0.0735933420063898 -0.0520125752742397 0.0219999999999997"
  rpy="0 0 0" />
  <parent
  link="base_link" />
  <child
  link="right_link" />
  <axis
  xyz="0 0 1" />
  <limit
  lower="-0.39"
  upper="0.39"
  effort="0"
  velocity="0" />
  </joint>
  <link name="rf_link">
  <inertial>
  <origin
  xyz="-1.82018104019632E-07 -1.9296458401985E-07 -3.39361436400148E-08"
  rpy="0 0 0" />
  <mass
  value="0.0441313541199343" />
  <inertia
  ixx="1.81223720754189E-05"
  ixy="8.14282826550161E-12"
  ixz="-2.30932816847721E-12"
  iyy="3.14074908686231E-05"
  iyz="-6.6892241788197E-12"
  izz="1.81223769687268E-05" />
  </inertial>
  <visual>
  <origin
  xyz="0 0 0"
  rpy="0 0 0" />
  <geometry>
  <mesh
  filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/rf_link.STL" />
  </geometry>
  <material name="black">
  <color rgba="0 0 0 1"/>
  </material>
  </visual>
  <collision>
  <origin
  xyz="0 0 0"
  rpy="0 0 0" />
  <geometry>
  <mesh
  filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/rf_link.STL" />
  </geometry>
  </collision>
  </link>
  <gazebo reference="rf_link">
  <material>Gazebo/Black</material>
  </gazebo>

  <joint name="rf_joint"
  type="continuous">
  <origin
  xyz="0 -0.0301260001523718 -0.0109999999999997"
  rpy="0 0 0" />
  <parent
  link="right_link" />
  <child
  link="rf_link" />
  <axis
  xyz="0 -1 0" />
  </joint>

  </robot>

• 工具软件
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  D

  @小鱼 你好，我想请问该代理怎么使用，因为我在microros agent进行colcon build的时候提示我fatal: unable to access 'https://github.com/gabime/spdlog.git/': Failed to connect to github.；然后我试着加上代理进行git clone http://github.fishros.org/https://github.com/gabime/spdlog.git/就成功了，于是我想着修改出错的.cmake文件，但是这并不起作用，因为我发现还是出现相同的错误，应该是修改后的.cmake 文件会在再一次的colcon build中被重新生成，导致我添加的代理地址消失，现在我尝试着这样操作
  export http_proxy=http://github.fishros.org/
  export https_proxy=http://github.fishros.org/并更新了git配置,但是报错fatal: unable to access 'https://github.com/gabime/spdlog.git/': Failed to connect to github.fishros.org port 1080 after 281 ms: Couldn't connect to server。所以我想问一下如何更方便的使用http://github.fishros.org/来让我在编译时能够成功git clone。

• 文档资料

  收集的各种机器人相关学习资料

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  主题
  91
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  小

  在STM32微控制器及其编程环境中，uint8_t 是一个无符号的8位整数类型。它定义在标准整数类型库 <stdint.h> 中。

  具体来说：

  uint8_t 表示一个无符号的8位整数。 int 通常在STM32（以及大多数现代32位和64位系统）上是一个有符号的32位整数。 char 在C语言中是有符号还是无符号的取决于编译器的实现，但通常是一个8位的整数（尽管其符号性可能不确定）。

  因此，uint8_t 在位数上与 char 类似（都是8位），但uint8_t 明确是无符号的，而 char 的符号性不确定。此外，uint8_t 的定义是跨平台的，而 char 的符号性可能因编译器而异。

  总结：

  uint8_t 不等于 int，因为 int 是32位的。 uint8_t 在位数上与 char 相同，但它是无符号的，而 char 的符号性不确定。

  在STM32编程中，如果你需要一个明确的8位无符号整数，应该使用 uint8_t。

  以上为生成回答，仅供参考～