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    使用ros2_control加阿克曼插件仿真gazebo无效

    已定时 已固定 已锁定 已移动 未解决
    综合问题
    gazebo 仿真 ros2control
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    • 11321092421
      YoungRicky
      最后由 编辑

      启动后无法通过键盘节点来控制机器人的运动 没有反应
      这是ros2_control.xacro

      <?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro">

    <ros2_control name="hunterGazeboSystem" type="system">
        <hardware>
            <plugin>gazebo_ros2_control/GazeboSystem</plugin>
        </hardware>

        <joint name="front_left_wheel_joint">
            <command_interface name="velocity">
                <param name="min">0.0</param>
                <param name="max">20.0</param>
            </command_interface>
            <state_interface name="position" />
            <state_interface name="velocity" />
        </joint>

        <joint name="front_right_wheel_joint">
            <command_interface name="velocity">
                <param name="min">0.0</param>
                <param name="max">20.0</param>
            </command_interface>
            <state_interface name="position" />
            <state_interface name="velocity" />
        </joint>

        <joint name="rear_left_wheel_joint">
            <command_interface name="velocity">
                <param name="min">0.0</param>
                <param name="max">20.0</param>
            </command_interface>
            <state_interface name="position" />
            <state_interface name="velocity" />
        </joint>

        <joint name="rear_right_wheel_joint">
            <command_interface name="velocity">
                <param name="min">0.0</param>
                <param name="max">20.0</param>
            </command_interface>
            <state_interface name="position" />
            <state_interface name="velocity" />
        </joint>

        <joint name="front_left_steering_joint">
            <command_interface name="position">
                <param name="min">-1.0</param>
                <param name="max">1.0</param>
            </command_interface>
            <state_interface name="position" />
        </joint>

        <joint name="front_right_steering_joint">
            <command_interface name="position">
                <param name="min">-1.0</param>
                <param name="max">1.0</param>
            </command_interface>
            <state_interface name="position" />
        </joint>

        <joint name="steering_joint">
            <command_interface name="position">
                <param name="min">-1.0</param>
                <param name="max">1.0</param>
            </command_interface>
            <state_interface name="position" />
        </joint>
    </ros2_control>

    <gazebo>
        <plugin name="gazebo_ros2_control" filename="libgazebo_ros2_control.so">
            <parameters>$(find ackermancar_description)/config/controller.yaml</parameters>
        </plugin>
    </gazebo>
</robot>

      这是controller.yaml

      controller_manager:
  ros__parameters:
    update_rate: 50  # Hz
    use_sim_time: true
    hunter_joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster
      use_sim_time: true
    hunter_ackermann_drive_controller:
      type: ackermann_steering_controller/AckermannSteeringController

hunter_effort_controller:
  ros__parameters:
    joints:
      - front_left_wheel_joint
      - front_right_wheel_joint
      - rear_left_wheel_joint
      - rear_right_wheel_joint
      - front_left_steering_joint
      - front_right_steering_joint
      - steering_joint
    command_interfaces:
      - position
      - velocity
    state_interfaces:
      - position
      - velocity

hunter_ackermann_drive_controller:
  ros__parameters:
    front_left_wheel_joint: front_left_wheel_joint
    front_right_wheel_joint: front_right_wheel_joint
    rear_left_wheel_joint: rear_left_wheel_joint
    rear_right_wheel_joint: rear_right_wheel_joint
    front_left_steering_joint: front_left_steering_joint
    front_right_steering_joint: front_right_steering_joint
    steering_wheel_joint: steering_joint

    max_steer: 0.6458
    max_steering_angle: 7.85
    max_speed: 20

    left_steering_pid_gain: [1000, 10, 1]
    left_steering_i_range: [0, 0]
    right_steering_pid_gain: [1000, 10, 1]
    right_steering_i_range: [0, 0]
    linear_velocity_pid_gain: [1000, 10, 1]
    linear_velocity_i_range: [0, 0]

    publish_odom: true
    publish_odom_tf: true
    publish_wheel_tf: false
    publish_distance: true

    odometry_frame: odom
    robot_base_frame: base_link

      这是gazebo启动时的信息

      [spawn_entity.py-5] [INFO] [1732942276.129969189] [spawn_entity]: Spawn status: SpawnEntity: Successfully spawned entity [orbbec_hunter2]
[INFO] [spawn_entity.py-5]: process has finished cleanly [pid 74698]
[gazebo-4] [INFO] [1732942276.295861284] [gazebo_ros2_control]: Loading gazebo_ros2_control plugin
[gazebo-4] [INFO] [1732942276.297774399] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in namespace: /
[gazebo-4] [INFO] [1732942276.297797885] [gazebo_ros2_control]: Starting gazebo_ros2_control plugin in ros 2 node: gazebo_ros2_control
[gazebo-4] [INFO] [1732942276.299302238] [gazebo_ros2_control]: connected to service!! robot_state_publisher
[gazebo-4] [INFO] [1732942276.299597077] [gazebo_ros2_control]: Received urdf from param server, parsing...
[gazebo-4] [INFO] [1732942276.300242373] [gazebo_ros2_control]: Loading parameter files /home/youngricky/graduation_project_ws/install/ackermancar_description/share/ackermancar_description/config/controller.yaml
[gazebo-4] [INFO] [1732942276.306206802] [gazebo_ros2_control]: Loading joint: front_left_wheel_joint
[gazebo-4] [INFO] [1732942276.306221844] [gazebo_ros2_control]:         State:
[gazebo-4] [INFO] [1732942276.306225818] [gazebo_ros2_control]:                  position
[gazebo-4] [INFO] [1732942276.306229320] [gazebo_ros2_control]:                  velocity
[gazebo-4] [INFO] [1732942276.306231778] [gazebo_ros2_control]:         Command:
[gazebo-4] [INFO] [1732942276.306245519] [gazebo_ros2_control]:                  velocity
[gazebo-4] [INFO] [1732942276.306343093] [gazebo_ros2_control]: Loading joint: front_right_wheel_joint
[gazebo-4] [INFO] [1732942276.306347954] [gazebo_ros2_control]:         State:
[gazebo-4] [INFO] [1732942276.306350312] [gazebo_ros2_control]:                  position
[gazebo-4] [INFO] [1732942276.306352671] [gazebo_ros2_control]:                  velocity
[gazebo-4] [INFO] [1732942276.306354822] [gazebo_ros2_control]:         Command:
[gazebo-4] [INFO] [1732942276.306359325] [gazebo_ros2_control]:                  velocity
[gazebo-4] [INFO] [1732942276.306418386] [gazebo_ros2_control]: Loading joint: rear_left_wheel_joint
[gazebo-4] [INFO] [1732942276.306423555] [gazebo_ros2_control]:         State:
[gazebo-4] [INFO] [1732942276.306426446] [gazebo_ros2_control]:                  position
[gazebo-4] [INFO] [1732942276.306430171] [gazebo_ros2_control]:                  velocity
[gazebo-4] [INFO] [1732942276.306432543] [gazebo_ros2_control]:         Command:
[gazebo-4] [INFO] [1732942276.306436231] [gazebo_ros2_control]:                  velocity
[gazebo-4] [INFO] [1732942276.306608743] [gazebo_ros2_control]: Loading joint: rear_right_wheel_joint
[gazebo-4] [INFO] [1732942276.306628578] [gazebo_ros2_control]:         State:
[gazebo-4] [INFO] [1732942276.306638252] [gazebo_ros2_control]:                  position
[gazebo-4] [INFO] [1732942276.306646477] [gazebo_ros2_control]:                  velocity
[gazebo-4] [INFO] [1732942276.306654058] [gazebo_ros2_control]:         Command:
[gazebo-4] [INFO] [1732942276.306668289] [gazebo_ros2_control]:                  velocity
[gazebo-4] [INFO] [1732942276.306826081] [gazebo_ros2_control]: Loading joint: front_left_steering_joint
[gazebo-4] [INFO] [1732942276.306847201] [gazebo_ros2_control]:         State:
[gazebo-4] [INFO] [1732942276.306856541] [gazebo_ros2_control]:                  position
[gazebo-4] [INFO] [1732942276.306871575] [gazebo_ros2_control]:         Command:
[gazebo-4] [INFO] [1732942276.306879493] [gazebo_ros2_control]:                  position
[gazebo-4] [INFO] [1732942276.307006350] [gazebo_ros2_control]: Loading joint: front_right_steering_joint
[gazebo-4] [INFO] [1732942276.307011916] [gazebo_ros2_control]:         State:
[gazebo-4] [INFO] [1732942276.307015456] [gazebo_ros2_control]:                  position
[gazebo-4] [INFO] [1732942276.307017970] [gazebo_ros2_control]:         Command:
[gazebo-4] [INFO] [1732942276.307020922] [gazebo_ros2_control]:                  position
[gazebo-4] [WARN] [1732942276.307103978] [gazebo_ros2_control]: Skipping joint in the URDF named 'steering_joint' which is not in the gazebo model.
[gazebo-4] [INFO] [1732942276.307136546] [resource_manager]: Initialize hardware 'hunterGazeboSystem' 
[gazebo-4] [INFO] [1732942276.307227533] [resource_manager]: Successful initialization of hardware 'hunterGazeboSystem'
[gazebo-4] [INFO] [1732942276.307267768] [resource_manager]: 'configure' hardware 'hunterGazeboSystem' 
[gazebo-4] [INFO] [1732942276.307271664] [resource_manager]: Successful 'configure' of hardware 'hunterGazeboSystem'
[gazebo-4] [INFO] [1732942276.307274915] [resource_manager]: 'activate' hardware 'hunterGazeboSystem' 
[gazebo-4] [INFO] [1732942276.307277208] [resource_manager]: Successful 'activate' of hardware 'hunterGazeboSystem'
[gazebo-4] [INFO] [1732942276.307315865] [gazebo_ros2_control]: Loading controller_manager
[gazebo-4] [WARN] [1732942276.317574735] [gazebo_ros2_control]:  Desired controller update period (0.02 s) is slower than the gazebo simulation period (0.001 s).
[gazebo-4] [INFO] [1732942276.317694972] [gazebo_ros2_control]: Loaded gazebo_ros2_control.
[gazebo-4] 
[gazebo-4] libcurl: (56) OpenSSL SSL_read: error:0A000126:SSL routines::unexpected eof while reading, errno 0

      这是话题信息

      youngricky@youngricky-Hasee:~$ ros2 topic list 
/clicked_point
/clock
/front_color_camera/camera_info
/front_color_camera/image_raw
/front_color_camera/image_raw/compressed
/front_color_camera/image_raw/compressedDepth
/front_color_camera/image_raw/theora
/front_depth_camera/camera_info
/front_depth_camera/depth/camera_info
/front_depth_camera/depth/image_raw
/front_depth_camera/depth/image_raw/compressed
/front_depth_camera/depth/image_raw/compressedDepth
/front_depth_camera/depth/image_raw/theora
/front_depth_camera/image_raw
/front_depth_camera/image_raw/compressed
/front_depth_camera/image_raw/compressedDepth
/front_depth_camera/image_raw/theora
/front_depth_camera/points
/front_ultrasonic
/goal_pose
/imu
/initialpose
/joint_states
/left_color_camera/camera_info
/left_color_camera/image_raw
/left_color_camera/image_raw/compressed
/left_color_camera/image_raw/compressedDepth
/left_color_camera/image_raw/theora
/orbbec_hunter2/cmd_vel
/parameter_events
/rear_color_camera/camera_info
/rear_color_camera/image_raw
/rear_color_camera/image_raw/compressed
/rear_color_camera/image_raw/compressedDepth
/rear_color_camera/image_raw/theora
/rear_ultrasonic
/right_color_camera/camera_info
/right_color_camera/image_raw
/right_color_camera/image_raw/compressed
/right_color_camera/image_raw/compressedDepth
/right_color_camera/image_raw/theora
/robot_description
/rosout
/scan
/tf
/tf_static
      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 @1132109242
        最后由 编辑

        @1132109242 没看到激活这个hunter_ackermann_drive_controller控制器

        小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
        新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

        11321092421 1 条回复 最后回复 回复 引用 0
        • 11321092421
          YoungRicky @小鱼
          最后由 编辑

          @小鱼 在 使用ros2_control加阿克曼插件仿真gazebo无效 中说：

          没看到激活这个hunter_ackermann_drive_controller控制器

          hunter_ackermann_drive_controller:
          type: ackermann_steering_controller/AckermannSteeringController请问小鱼大大这一行不是的吗 或者还需要在其他地方添加什么东西吗

          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 @1132109242
            最后由 编辑

            @1132109242 这个只是添加，还要激活，你看看我B站视频介绍

            小鱼 ROS 2 新书上线！书籍购买链接： https://m.tb.cn/h.gFDBx39
            新书配套视频：https://www.bilibili.com/video/BV1GW42197Ck/

            11321092421 1 条回复 最后回复 回复 引用 0
            • 11321092421
              YoungRicky @小鱼
              最后由 编辑

              @小鱼 我激活了 gazebo里也加载成功了 但是gazebo里面机器人前轮岔着跑不知道是什么原因截图 2024-12-10 16-16-18.png

              11321092421 27616077292 2 条回复 最后回复 回复 引用 0
              • 11321092421
                YoungRicky @1132109242
                最后由 1132109242 编辑

                @小鱼 最新的launch文件

                from launch import LaunchDescription
from launch_ros.actions import Node

# terminator command class
from launch.actions import ExecuteProcess
from launch.substitutions import FindExecutable

# parameters' declare and obtain in a node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration

# file, use launch to launch muitiple launch files
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource

# group
from launch_ros.actions import PushRosNamespace
from launch.actions import GroupAction

# event
from launch.event_handlers import OnProcessStart, OnProcessExit
from launch.actions import ExecuteProcess, RegisterEventHandler, LogInfo

# obtain the "share" path of the package
from ament_index_python.packages import get_package_share_directory
from launch_ros.substitutions import FindPackageShare
import os

# parameters load
from launch_ros.parameter_descriptions import ParameterValue
from launch.substitutions import Command

from launch.conditions import IfCondition, UnlessCondition


def generate_launch_description():
    robot_name = "hunter2"  # hunter hunter2
    file_prefix = "urdf/" + robot_name + "/"
    package_name = "ackermancar_description"
    world_file_path = "worlds/simple_world.world"

    pkg_path = os.path.join(get_package_share_directory(package_name))
    world_path = os.path.join(pkg_path, world_file_path)
    print(world_path)
    xacro_name = "hunter2.urdf.xacro"
    xacro_model_path = os.path.join(pkg_path, f"{file_prefix+xacro_name}")

    rviz_path = os.path.join(pkg_path, "rviz/gazebo.rviz")

    rvizconfig = DeclareLaunchArgument(
        name="rvizconfig",
        default_value=str(rviz_path),
        description="Absolute path to rviz config file",
    )

    use_sim_time = DeclareLaunchArgument(
        "use_sim_time",
        default_value="true",
        description="Use simulation (Gazebo) clock if true",
    )

    remap_odom_tf = DeclareLaunchArgument(
        "remap_odometry_tf",
        default_value="true",
        description="Remap odometry TF from the steering controller to the TF tree.",
    )

    remap_odometry_tf = LaunchConfiguration("remap_odometry_tf")

    robot_description = ParameterValue(
        Command(["xacro" + " ", xacro_model_path]), value_type=str
    )

    robot_state_publisher_node = Node(
        package="robot_state_publisher",
        executable="robot_state_publisher",
        parameters=[
            {
                "robot_description": robot_description,
                "use_sim_time": LaunchConfiguration("use_sim_time"),
            }
        ],
    )

    spawn_x_val = "-3.0"
    spawn_y_val = "-8.0"
    spawn_z_val = "0.4"
    spawn_yaw_val = "0.0"

    launch_gazebo = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            [get_package_share_directory("gazebo_ros"), "/launch", "/gazebo.launch.py"]
        ),
        launch_arguments=[("world", world_path), ("verbose", "true")],
    )

    spawn_entity = Node(
        package="gazebo_ros",
        executable="spawn_entity.py",
        arguments=[
            "-topic",
            "robot_description",
            "-entity",
            robot_name,
            "-x",
            spawn_x_val,
            "-y",
            spawn_y_val,
            "-z",
            spawn_z_val,
            "-Y",
            spawn_yaw_val,
        ],
        output="screen",
    )

    robot_controllers = os.path.join(pkg_path, "params", robot_name, "controller.yaml")

    control_node_remapped = Node(
        package="controller_manager",
        executable="ros2_control_node",
        parameters=[robot_controllers],
        output="both",
        remappings=[
            ("~/robot_description", "/robot_description"),
            ("/bicycle_steering_controller/tf_odometry", "/tf"),
        ],
        condition=IfCondition(remap_odometry_tf),
    )
    control_node = Node(
        package="controller_manager",
        executable="ros2_control_node",
        parameters=[robot_controllers],
        output="both",
        remappings=[
            ("~/robot_description", "/robot_description"),
        ],
        condition=UnlessCondition(remap_odometry_tf),
    )

    joint_state_broadcaster_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=[
            "joint_state_broadcaster",
            "--controller-manager",
            "/controller_manager",
        ],
    )

    ackermann_steering_controller_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=[
            "ackermann_steering_controller",
            "--controller-manager",
            "/controller_manager",
        ],
    )

    return LaunchDescription(
        [
            use_sim_time,
            remap_odom_tf,
            launch_gazebo,
            spawn_entity,
            control_node_remapped,
            robot_state_publisher_node,
            control_node,
            joint_state_broadcaster_spawner,
            ackermann_steering_controller_spawner,
            rvizconfig,
        ]
    )

                和controller.yaml

                controller_manager:
  ros__parameters:
    update_rate: 10 # Hz
    use_sim_time: true
    joint_state_broadcaster:
      type: joint_state_broadcaster/JointStateBroadcaster
    ackermann_steering_controller: 
      type: 'ackermann_steering_controller/AckermannSteeringController'
ackermann_steering_controller:
  ros__parameters:
    wheelbase: 0.65
    front_wheel_track: 0.605
    rear_wheel_track: 0.605
    front_wheels_radius: 0.165
    rear_wheels_radius: 0.165
    front_steering: true
    reference_timeout: 2.0
    rear_wheels_names: ['rear_left_wheel_joint', 'rear_right_wheel_joint']
    front_wheels_names: ['front_left_wheel_joint', 'front_right_wheel_joint']
    open_loop: false
    velocity_rolling_window_size: 10
    base_frame_id: base_link
    odom_frame_id: odom
    enable_odom_tf: true
    twist_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
    pose_covariance_diagonal: [0.0, 7.0, 14.0, 21.0, 28.0, 35.0]
    position_feedback: false
                1 条回复 最后回复 回复 引用 0
                • 27616077292
                  赤诚 @1132109242
                  最后由 编辑

                  @1132109242 兄弟，我也碰见了类似的阿克曼问题，right_steering_joint和left_steering_joint一加上，模型就寄了

                  11321092421 1 条回复 最后回复 回复 引用 0
                  • 11321092421
                    YoungRicky @2761607729
                    最后由 编辑

                    @2761607729 我放弃用ros_control里 直接用gazebo插件里

                    27616077292 1 条回复 最后回复 回复 引用 0
                    • 27616077292
                      赤诚 @1132109242
                      最后由 编辑

                      @1132109242 我就是用的gazebo插件，兄弟，你的搞好了吗

                      1 条回复 最后回复 回复 引用 0
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