6bf4790f-f2a5-4389-ba96-e8a8e7521b1b-ef38e1e79785a1ebf524daac7e784f0b.png
这是我的控制器配置
robot name="my_move" xmlns:xacro="http://wiki.ros.org/xacro">
<!-- 传动实现:用于连接控制器与关节 -->
<xacro:macro name="joint_trans" params="joint_name">
<!-- Transmission is important to link the joints and the controller -->
<transmission name="${joint_name}_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${joint_name}">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="${joint_name}_motor">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
<!-- 每一个驱动轮都需要配置传动装置 -->
<xacro:joint_trans joint_name="wheel_lf_2_base" />
<xacro:joint_trans joint_name="wheel_rf_2_base" />
<xacro:joint_trans joint_name="wheel_lb_2_base" />
<xacro:joint_trans joint_name="wheel_rb_2_base" />
<!-- 控制器 -->
<gazebo>
<plugin name="skid_steer_drive_controller" filename="libgazebo_ros_skid_steer_drive.so">
<updateRate>100.0</updateRate>
<robotNamespace>/</robotNamespace>
<leftFrontJoint>wheel_lf_2_base</leftFrontJoint>
<rightFrontJoint>wheel_rf_2_base</rightFrontJoint>
<leftRearJoint>wheel_lb_2_base</leftRearJoint>
<rightRearJoint>wheel_rb_2_base</rightRearJoint>
<wheelSeparation>0.584</wheelSeparation>
<wheelDiameter>0.33</wheelDiameter>
<robotBaseFrame>base_footprint</robotBaseFrame>
<torque>50</torque>
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<publish_wheel_tf>false</publish_wheel_tf>
<broadcastTF>true</broadcastTF>
</plugin>
</gazebo>
</robot>
这是启动gazebo仿真的launch文件
<launch>
<param name="robot_description" command="$(find xacro)/xacro $(find logistics_trolley)/urdf/logistics_trolley.xacro" />
<!-- 2. 启动Gazebo仿真环境 -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(find logistics_trolley)/worlds/box_house.world" />
</include>
<!-- 2. 在Gazebo中添加机器人模型 -->
<node pkg="gazebo_ros" type="spawn_model" name="my_model" args="-urdf -model logistics_trolley -param robot_description" />
</launch>
这是启动导航的launch文件
<launch>
<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
<node pkg="rviz" type="rviz" name="rviz" args="-d $(find logistics_trolley)/config/navigation.rviz" />
<!-- 加载地图服务 -->
<include file="$(find logistics_trolley)/launch/read_map.launch" />
<!-- 加载amcl -->
<include file="$(find logistics_trolley)/launch/m_amcl.launch" />
<!-- 加载imove_base -->
<include file="$(find logistics_trolley)/launch/m_path.launch" />
</launch>
然后启动用键盘控制，车轮在rviz中不转动
查看tf树f4c27aa5-df73-40b9-ad74-905b0eaf1809-7678cc3590e420530113a0cdb080b5f4_720.png