鱼香ROS社区
    • 版块
    • 最新
    • 未解决
    • 已解决
    • 群组
    • 注册
    • 登录
    紧急通知：禁止一切关于政治&VPN翻墙等话题，发现相关帖子会立马删除封号
     提问前必看的发帖注意事项： 社区问答规则(小鱼个人)更新 | 高质量帖子发布指南

    gazebo仿真模型沉到地下，ros-control不能控制车运行

    已定时 已固定 已锁定 已移动 已解决
    综合问题
    gazebo ros
    2
    4
    632
    正在加载更多帖子
    • 从旧到新
    • 从新到旧
    • 最多赞同
    回复
    • 在新帖中回复
    登录后回复
    此主题已被删除。只有拥有主题管理权限的用户可以查看。
    • 小丑汪小
      WOW995
      最后由 编辑

      您好，我自己画了一个铲车的简化模型，是中间铰接转向的。在gazebo里面运行之后车的轮子沉到地下，车自己滑行偏转，怎么解决sendpix3.jpg

      下面是我的xacro文件：

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

<robot name="xul307a" xmlns:xacro="http://www.ros.org/wiki/xacro">

  <xacro:include filename="$(find velodyne_description)/urdf/HDL-32E.urdf.xacro"/>
  <xacro:include filename="$(find velodyne_description)/urdf/VLP-16.urdf.xacro"/>

  <link name="base_footprint">
        <visual>
            <geometry>
                <sphere radius="0.001" />
            </geometry>
        </visual>
  </link>

  <link name="base_link">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="4049.8" />
        <!-- <inertia
        ixx="7926.94"
        ixy="0"
        ixz="0"
        iyy="7723.8"
        iyz="0"
        izz="613.68" /> -->
      <inertia
        ixx="613.68"
        ixy="0"
        ixz="0"
        iyy="7723.8"
        iyz="0"
        izz="7926.94" />
    </inertial>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="4.72 0.78 1.1" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>

    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <box size="4.72 0.78 1.1" />
      </geometry>
    </collision>
  </link>

  <joint name="base_link2base_footprint" type="fixed">
      <parent link="base_footprint" />
      <child link="base_link"/>
      <origin xyz="0 0 1.067" />
  </joint>


<link name="back_right_wheel">
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <mass value="639.613" />
      <inertia 
        ixx="87.55" 
        ixy="0.00" 
        ixz="0.00"
        iyy="87.55" 
        iyz="0.00" 
        izz="156.705" />
    </inertial>

    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.7" length="0.415" />
      </geometry>
      <material name="">
        <color rgba="1 1 1 1" />
      </material>
    </visual>

    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.7" length="0.415" />
      </geometry>
    </collision>
  </link>

  <joint
    name="back_right_wheel2base_link"
    type="continuous">
    <origin
      xyz="0.59665 -0.7504 -0.3671"
      rpy="1.5708 0 0" />
    <parent
      link="base_link" />
    <child
      link="back_right_wheel" />
    <axis
      xyz="0 0 -1" />
  </joint>

  <link
    name="back_left_wheel">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="639.613" />
      <inertia
        ixx="87.55"
        ixy="0.00"
        ixz="0.00"
        iyy="87.55"
        iyz="0.00"
        izz="156.705" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.7" length="0.415" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.7" length="0.415" />
      </geometry>
    </collision>
  </link>

  <joint
    name="back_left_wheel2base_link"
    type="continuous">
    <origin
      xyz="0.59665 0.7504 -0.3671"
      rpy="1.5707 0 -3.1416" />
    <parent
      link="base_link" />
    <child
      link="back_left_wheel" />
    <axis
      xyz="0 0 -1" />
  </joint>

  <link
    name="steering_hinge_link">
    <inertial>
      <origin
        xyz="2.127 0 0"
        rpy="0 0 0" />
      <mass
        value="2985.8" />
      <!-- <inertia
        ixx="3314.3"
        ixy="0"
        ixz="0"
        iyy="3164.6"
        iyz="0"
        izz="452.45" /> -->
        <inertia
        ixx="452.45"
        ixy="0"
        ixz="0"
        iyy="3314.3"
        iyz="0"
        izz="3164.6" /> 
    </inertial>
    <visual>
      <origin
        xyz="2.127 0 0"
        rpy="0 0 0" />
      <geometry>
        <box size="3.48 0.78 1.1" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="2.127 0 0"
        rpy="0 0 0" />
      <geometry>
        <box size="3.48 0.78 1.1" />
      </geometry>
    </collision>
  </link>

  <joint
    name="steering_hinge2base_link"
    type="revolute">
    <origin
      xyz="2.36 0 0"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="steering_hinge_link" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.74"
      upper="0.74"
      effort="0"
      velocity="0" />
  </joint>

  <link
    name="front_right_wheel">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="639.613" />
      <inertia
        ixx="87.55"
        ixy="0.00"
        ixz="0.00"
        iyy="87.55"
        iyz="0.00"
        izz="156.705" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.7" length="0.415" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.7" length="0.415" />
      </geometry>
    </collision>
  </link>

  <joint
    name="front_right_wheel2steering_hinge"
    type="continuous">
    <origin
      xyz="1.42 -0.75 -0.366"
      rpy="1.57 0 0" />
    <parent
      link="steering_hinge_link" />
    <child
      link="front_right_wheel" />
    <axis
      xyz="0 0 -1" />
  </joint>
  <link
    name="front_left_wheel">
    <inertial>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <mass
        value="639.613" />
      <inertia
        ixx="87.55"
        ixy="0.00"
        ixz="0.00"
        iyy="87.55"
        iyz="0.00"
        izz="156.705" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.7" length="0.415" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <cylinder radius="0.7" length="0.415" />
      </geometry>
    </collision>
  </link>
  <joint
    name="front_left_wheel2steering_hinge"
    type="continuous">
    <origin
      xyz="1.42 0.75 -0.366"
      rpy="1.57 0 -3.14" />
    <parent
      link="steering_hinge_link" />
    <child
      link="front_left_wheel" />
    <axis
      xyz="0 0 -1" />
  </joint>

  <VLP-16 parent="base_link" name="velodyne_front" topic="/velodyne_points_front" hz="10" samples="1801"  min_range="0.8" max_range="130.0" min_angle="-${M_PI}" max_angle="${M_PI}" >   
    <origin xyz="2.505 0 1.26" rpy="0 0 0" />    
  </VLP-16>

  <VLP-16 parent="base_link" name="velodyne_back" topic="/velodyne_points_back" hz="10" samples="1801"  min_range="0.8" max_range="130.0" min_angle="-${M_PI}" max_angle="${M_PI}" >   
    <origin xyz="-2.2056 0 0.7538" rpy="0 0 3.14" />    
  </VLP-16>


<!-- motors and transmissions for the two rear wheels -->
  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="back_right_wheel2base_link">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>  

  <transmission name="tran2">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="back_left_wheel2base_link">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor2">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>  

  <!-- EPS and transmissions for the front steering -->
  <transmission name="tran3">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="steering_hinge2base_link">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="eps">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
      <motorTorqueConstant>1000000</motorTorqueConstant>
    </actuator>
  </transmission>


  <!-- Friction Parametres -->

  <gazebo reference="back_right_wheel">
    <mu1>10000000</mu1>
    <mu2>10000000</mu2>
    <kp>10000000</kp>
    <kd>1</kd>
  </gazebo>  

  <gazebo reference="back_left_wheel">
    <mu1>10000000</mu1>
    <mu2>10000000</mu2>
    <kp>10000000</kp>
    <kd>1</kd>         
  </gazebo>   

  <gazebo reference="front_right_wheel">
    <mu1>10000000</mu1>
    <mu2>10000000</mu2>
    <kp>10000000</kp>
    <kd>1</kd>         
  </gazebo> 

  <gazebo reference="front_left_wheel">
    <mu1>10000000</mu1>
    <mu2>10000000</mu2>
    <kp>10000000</kp>
    <kd>1</kd>           
  </gazebo>    

  <!-- Gazebo Plugins -->
  <gazebo>
    <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
      <robotNamespace>/xul307a</robotNamespace>
      <robotParam>robot_description</robotParam>
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      <!-- <legacyModeNS>true</legacyModeNS> -->
    </plugin>
  </gazebo>

  <gazebo>
    <plugin name="joint_state_publisher" filename="libgazebo_ros_joint_state_publisher.so">
      <jointName>back_right_wheel2base_link, back_left_wheel2base_link, steering_hinge2base_link,front_right_wheel2steering_hinge,front_left_wheel2steering_hinge</jointName>
      <updateRate>50.0</updateRate>
      <robotNamespace>/xul307a</robotNamespace>
      <alwaysOn>true</alwaysOn>
    </plugin>
  </gazebo>


</robot>
      小鱼小 1 条回复 最后回复 回复 引用 1
      • 小鱼小
        小鱼 技术大佬 @小丑汪
        最后由 编辑

        @小丑汪 在 gazebo仿真模型沉到地下，ros-control不能控制车运行 中说：

        <mass value="4049.8" />

        无法承受机器之重，你的质量可能太大了，受力面积又小，物体刚性系数估计也不够，被强制压入地面了

        新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

        小丑汪小 1 条回复 最后回复 回复 引用 1
        • 小丑汪小
          WOW995 @小鱼
          最后由 编辑

          @小鱼 好的，谢谢您。我把质量调小试一下。

          小鱼小 1 条回复 最后回复 回复 引用 0
          • 小鱼小
            小鱼 技术大佬 @小丑汪
            最后由 编辑

            @小丑汪 质量小对应惯性矩阵也要调整哦

            新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

            1 条回复 最后回复 回复 引用 1
            • 小丑汪小 小丑汪 将这个主题标记为已解决，在
            • 第一个帖子
              最后一个帖子
            皖ICP备16016415号-7
            Powered by NodeBB | 鱼香ROS