启动gazebo仿真环境后，rviz2中model的左右车轮link报错

x

小鱼

@927348581 给一下你的所有配置

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x

@小鱼
这是urdf文件
<?xml version="1.0"?>
<robot name="fishbot">

<!-- 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>


<!-- 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="yellow">
            <color rgba="0.8 0.6 0.2 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="yellow">
            <color rgba="0.8 0.6 0.2 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>

<!-- 雷达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>
    <collision>
        <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>
    </collision>
    <inertial>
        <mass value="0.1" />
        <inertia ixx="0.000190416666667" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036" />
    </inertial>
</link>

<!-- 雷达与地盘的关节 -->
<joint name="laser_joint" type="fixed">
    <parent link="base_link" />
    <child link="laser_link" />
    <origin xyz="0 0 0.075" />
</joint>
<!-- 传感器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>
    <collision>
        <origin xyz="0 0 0.0" rpy="0 0 0" />
        <geometry>
            <box size="0.02 0.02 0.02" />
        </geometry>
    </collision>
    <inertial>
        <mass value="0.1" />
        <inertia ixx="0.000190416666667" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036" />
    </inertial>
</link>

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

<!-- 左车轮 -->
<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>
    <collision>
        <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>
    </collision>
    <inertial>
        <mass value="0.2" />
        <inertia ixx="0.000190416666667" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036" />
    </inertial>
</link>
<!-- 右车轮 -->
<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>
    <collision>
        <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>
    </collision>
    <inertial>
        <mass value="0.2" />
        <inertia ixx="0.000190416666667" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036" />
    </inertial>
</link>
<!-- 左车轮关节 -->
<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>
<!-- 右车轮关节 -->
<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>
<!-- 支撑车轮link -->
<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>
    <collision>
        <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>
    </collision>
    <inertial>
        <mass value="0.02" />
        <inertia ixx="0.000190416666667" ixy="0" ixz="0" iyy="0.0001904" iyz="0" izz="0.00036" />
    </inertial>
</link>
<!-- 支撑车轮关节 -->
<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>

<!-- 设置连杆仿真属性 -->
<gazebo reference="caster_link">
    <material>Gazebo/Black</material>
</gazebo>
<gazebo reference="caster_link">
    <!-- mu 摩擦力 -->
    <mu1 value="0.0" />
    <mu2 value="0.0" />
    <!-- kp kd 刚性系数 -->
    <kp value="1000000.0" />
    <kd value="10.0" />
    <!-- <fdir1 value="0 0 1"/> -->
</gazebo>


<gazebo>
    <!-- plugin -插件 -->
    <plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
        <!-- ros相关配置 -->
        <ros>
            <namespace>/</namespace>
            <!-- 话题重映射 -->
            <remapping>cmd_vel:=cmd_vel</remapping>
            <remapping>odom:=odom</remapping>
        </ros>
        <!-- 数据更新速率 -->
        <update_rate>30</update_rate>
        <!-- 车轮关节名称 -->
        <left_joint>left_wheel_joint</left_joint>
        <right_joint>right_wheel_joint</right_joint>
        <!-- kinematics -->
        <!-- 左右车轮间距 -->
        <wheel_separation>0.2</wheel_separation>
        <!-- 车轮直径 -->
        <wheel_diameter>0.065</wheel_diameter>
        <!-- limits -->
        <!-- 车轮的最大力矩 -->
        <max_wheel_torque>20</max_wheel_torque>
        <!-- 车轮最大的加速度 -->
        <max_wheel_acceleration>1.0</max_wheel_acceleration>
        <!-- output -->
        <!-- 是否发布里程计 -->
        <publish_odom>true</publish_odom>
        <!-- 是否发布里程计的tf开关 -->
        <publish_odom_tf>true</publish_odom_tf>
        <!-- 是否发布车轮的tf数据开关 -->
        <publish_wheel_tf>false</publish_wheel_tf>
        <!-- 里程计的framed ID，最终体现在话题和TF上 -->
        <odometry_frame>odom</odometry_frame>
        <odometry_topic>odom</odometry_topic>
        <!-- 机器人的基础frame的ID -->
        <robot_base_frame>base_footprint</robot_base_frame>
    </plugin>

    <plugin name="fishbot_joint_state" filename="libgazebo_ros_joint_state_publisher.so">
        <ros>
            <remapping>~/out:=joint_states</remapping>
        </ros>
        <update_rate>30</update_rate>
        <joint_name>right_wheel_joint</joint_name>
        <joint_name>left_wheel_joint</joint_name>
    </plugin>
</gazebo>

<!-- 将gazebo中的传感器连接到连杆link中 -->
<gazebo reference="imu_link">
    <!-- sensor 传感器 -->
    <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> <!--更新速率-->
        <visualize>true</visualize> <!-- 是否可视化-->
        <imu>
            <angular_velocity> <!--角速度-->
                <x>
                    <noise type="gaussian"> <!-- 高斯噪声 -->
                        <mean>0.0</mean> <!-- 平均值-->
                        <stddev>2e-4</stddev> <!-- 标准差 -->
                        <bias_mean>0.0000075</bias_mean> <!-- 平均值偏差-->
                        <bias_stddev>0.0000008</bias_stddev> <!-- 标准差偏差-->
                    </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> <!--加速度-->
                <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 reference="laser_link">
    <sensor name="laser_sensor" type="ray">
        <always_on>true</always_on>
        <!-- 是否可视化 -->
        <visualize>true</visualize>
        <update_rate>5</update_rate>
        <!-- 雷达的joint中位置的设置值 位姿信息-->
        <pose>0 0 0.075 0 0 0</pose>
        <ray>
            <!-- 扫描属性 -->
            <scan>
                <!-- 水平位置 -->
                <horizontal>
                    <!-- 采样数量 雷达旋转一周发射360道射线 -->
                    <samples>360</samples>
                    <resolution>1</resolution>
                    <!-- 雷达采样范围 一圈6.28个弧度-->
                    <min_angle>0.000000</min_angle>
                    <max_angle>6.280000</max_angle>
                </horizontal>
            </scan>
            <!-- 雷达扫描范围 -->
            <range> <!-- 0.12m ~ 0.35m  应该是半径-->
                <min>0.120000</min>
                <max>10</max>
                <!-- 分辨率 -->
                <resolution>0.015000</resolution>
            </range>
            <!-- 噪声 -->
            <noise>
                <type>gaussian</type>
                <mean>0.0</mean> <!-- 平均值 -->
                <stddev>0.01</stddev> <!-- 标准差 -->
            </noise>
        </ray>

        <plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
            <ros>
                <!-- <namespace>/tb3</namespace> -->
                <remapping>~/out:=scan</remapping>
            </ros>
            <output_type>sensor_msgs/LaserScan</output_type>
            <frame_name>laser_link</frame_name>
        </plugin>
    </sensor>
</gazebo>

</robot>

这是launch文件

import os
from launch import LaunchDescription
from launch.actions import ExecuteProcess
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'

ld = LaunchDescription()

urdf_model_path = os.path.join(get_package_share_directory("gazebo_exercise"),"urdf","urdf","demo02_gazebo.launch.urdf")   
#加载gazebo的world文件 -- 在终端启动gazebo后面直接加上world的路径
gazebo_world_path = os.path.join(get_package_share_directory("gazebo_exercise"),"world","box_house.world") 

# 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='both')

# Start Robot State publisher
start_robot_state_publisher_cmd = Node(
    package='robot_state_publisher',
    executable='robot_state_publisher',
    arguments=[urdf_model_path]
)
joint_state_publisher_node = Node(
    package='joint_state_publisher',
    executable='joint_state_publisher',
    name='joint_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(joint_state_publisher_node)
ld.add_action(start_rviz_cmd)
return ld

gazebo仿真环境小车没有问题，但是rviz2中出现车轮报错问题

x

@小鱼

小鱼

@927348581 在启动gazebo仿真环境后，rviz2中model的左右车轮link报错中说：

    <!-- 是否发布车轮的tf数据开关 -->
    <publish_wheel_tf>false</publish_wheel_tf>

这里改成true

x

@小鱼改了之后没有效果，还是一样报错

小鱼

@927348581 重新编译，然后看看tf

sxjklgl

此回复已被删除！

sxjklgl

@小鱼我也有同样的问题，按照历史记录的提示修改，也是同样的报错，请再给出些修改思路，谢谢