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    Gazebo与RViz联合仿真时odom消失

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    • 9
      924453613
      最后由 编辑

      解决后代码：
      irobot.urdf

      <?xml version="1.0" encoding="utf-8"?>
<robot
  name="irobot">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="0.035298 6.2375E-05 0.0016857"
        rpy="0 0 0" />
      <mass
        value="5" />
      <inertia
        ixx="0.038"
        ixy="0"
        ixz="0"
        iyy="0.026"
        iyz="0"
        izz="0.06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://irobot/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0 0 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://irobot/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="top_link">
    <inertial>
      <origin
        xyz="-0.0050829 -0.00015289 0.0008765"
        rpy="0 0 0" />
      <mass
        value="0.2" />
      <inertia
        ixx="0.00081"
        ixy="0"
        ixz="0"
        iyy="0.00071"
        iyz="0"
        izz="0.0015" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://irobot/meshes/top_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0 1 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://irobot/meshes/top_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="top_link2base_link"
    type="fixed">
    <origin
      xyz="0 0 0.033795"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="top_link" />
    <axis
      xyz="0 -1 0" />
    <limit
      lower="0"
      upper="0"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="laser_link">
    <inertial>
      <origin
        xyz="1.1845E-09 4.4075E-09 0.0030295"
        rpy="0 0 0" />
      <mass
        value="0.1" />
      <inertia
        ixx="4.11E-08"
        ixy="0"
        ixz="0"
        iyy="4.11E-08"
        iyz="0"
        izz="7.88E-08" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://irobot/meshes/laser_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 0 0 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://irobot/meshes/laser_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="laser_link2base_link"
    type="fixed">
    <origin
      xyz="0.155 0 0.038215"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="laser_link" />
    <axis
      xyz="0 -1 0" />
    <limit
      lower="0"
      upper="0"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="right_wheel">
    <inertial>
      <origin
        xyz="-1.0317E-18 1.3878E-17 -1.7347E-18"
        rpy="0 0 0" />
      <mass
        value="0.05" />
      <inertia
        ixx="2.3E-05"
        ixy="0"
        ixz="0"
        iyy="4.3E-05"
        iyz="0"
        izz="2.3E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://irobot/meshes/right_wheel.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://irobot/meshes/right_wheel.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="right_wheel2base_link"
    type="continuous">
    <origin
      xyz="0 0.10045 -0.010735"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="right_wheel" />
    <axis
      xyz="0 -1 0" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="100"
      velocity="2" />
  </joint>
  <link
    name="left_wheel">
    <inertial>
      <origin
        xyz="-1.1842E-18 0 -1.7347E-18"
        rpy="0 0 0" />
      <mass
        value="0.05" />
      <inertia
        ixx="2.3E-05"
        ixy="0"
        ixz="0"
        iyy="4.3E-05"
        iyz="0"
        izz="2.3E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://irobot/meshes/left_wheel.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://irobot/meshes/left_wheel.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="left_wheel2base_link"
    type="continuous">
    <origin
      xyz="0 -0.10045 -0.010735"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="left_wheel" />
    <axis
      xyz="0 -1 0" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="100"
      velocity="2" />
  </joint>
  <link
    name="driven_wheel">
    <inertial>
      <origin
        xyz="0 -3.4443E-19 0"
        rpy="0 0 0" />
      <mass
        value="0.02" />
      <inertia
        ixx="1.27E-06"
        ixy="0"
        ixz="0"
        iyy="1.27E-06"
        iyz="0"
        izz="1.27E-06" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://irobot/meshes/driven_wheel.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="1 1 1 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://irobot/meshes/driven_wheel.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="driven_wheel2base_link"
    type="fixed">
    <origin
      xyz="0.13 0 -0.031735"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="driven_wheel" />
    <axis
      xyz="0 -1 0" />
    <limit
      lower="0"
      upper="0"
      effort="0"
      velocity="0" />
  </joint>
  <link
    name="base_footprint">
    <visual>
      <geometry>
        <sphere
          radius="0.001" />
      </geometry>
      <material
        name="">
        <color
          rgba="0 0 0 0" />
      </material>
    </visual>
  </link>
  <joint
    name="base_link2base_footprint"
    type="fixed">
        <parent
          link="base_footprint" />
        <child
          link="base_link" />
        <origin
          xyz="0 0 0.047" />
  </joint>
<!--color-->
  <gazebo reference="base_link">
    <material>Gazebo/Black</material>
  </gazebo>
  <gazebo reference="top_link">
    <material>Gazebo/Green</material>
  </gazebo>
  <gazebo reference="laser_link">
    <material>Gazebo/Red</material>
  </gazebo>
  <gazebo reference="camera_link">
    <material>Gazebo/Red</material>
  </gazebo>
  <gazebo reference="driven_wheel">
    <material>Gazebo/White</material>
  </gazebo>
  <gazebo reference="left_wheel">
    <material>Gazebo/White</material>
  </gazebo>
  <gazebo reference="right_wheel">
    <material>Gazebo/White</material>
  </gazebo>
  <!-- controller -->
  <transmission name="left_wheel2base_link_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="left_wheel2base_link">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="left_wheel2base_link_motor">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="right_wheel2base_link_trans">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="right_wheel2base_link">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
    </joint>
    <actuator name="right_wheel2base_link_motor">
      <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo>
    <plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
      <rosDebugLevel>Debug</rosDebugLevel>
      <publishWheelTF>true</publishWheelTF>
      <robotNamespace>/</robotNamespace>
      <publishTf>1</publishTf>
      <publishWheelJointState>true</publishWheelJointState>
      <alwaysOn>true</alwaysOn>
      <updateRate>100.0</updateRate>
      <legacyMode>true</legacyMode>
      <leftJoint>left_wheel2base_link</leftJoint>
      <rightJoint>right_wheel2base_link</rightJoint>
      <wheelSeparation>0.277</wheelSeparation>
      <wheelDiameter>0.073</wheelDiameter>
      <broadcastTF>1</broadcastTF>
      <wheelTorque>30</wheelTorque>
      <wheelAcceleration>1.8</wheelAcceleration>
      <commandTopic>cmd_vel</commandTopic>
      <odometryFrame>odom</odometryFrame>
      <odometryTopic>odom</odometryTopic>
      <robotBaseFrame>base_footprint</robotBaseFrame>
    </plugin>
  </gazebo>
  <!--laser-->
   <gazebo reference="laser_link">
    <sensor name="rplidar" type="ray">
      <pose>0 0 0 0 0 0</pose>
      <visualize>true</visualize>
      <update_rate>5.5</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>360</samples>
            <resolution>1</resolution>
            <min_angle>-3</min_angle>
            <max_angle>3</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.10</min>
          <max>30.0</max>
          <resolution>0.01</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin filename="libgazebo_ros_laser.so" name="gazebo_rplidar">
        <topicName>/scan</topicName>
        <frameName>laser_link</frameName>
      </plugin>
    </sensor>
  </gazebo> 
</robot>

      odom_gazebo.launch

      <launch>
  <include
    file="$(find gazebo_ros)/launch/empty_world.launch" />
  <node
    name="spawn_model"
    pkg="gazebo_ros"
    type="spawn_model"
    args="-file $(find irobot)/urdf/irobot.urdf -urdf -model irobot"
    output="screen" />
  <node
    name="fake_joint_calibration"
    pkg="rostopic"
    type="rostopic"
    args="pub /calibrated std_msgs/Bool true" />
</launch>

      odom_rviz.launch

      <launch>
  <param
    name="robot_description"
    textfile="$(find irobot)/urdf/irobot.urdf" />
  <node
    name="joint_state_publisher_gui"
    pkg="joint_state_publisher_gui"
    type="joint_state_publisher_gui" />
  <node
    name="robot_state_publisher"
    pkg="robot_state_publisher"
    type="robot_state_publisher" />
  <node
    name="rviz"
    pkg="rviz"
    type="rviz"
    args="-d $(find irobot)/config/irobot.rviz" />
</launch>
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