使用ros2_control加阿克曼插件仿真gazebo无效

YoungRicky

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

@1132109242 没看到激活这个hunter_ackermann_drive_controller控制器

YoungRicky

@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

@1132109242 这个只是添加，还要激活，你看看我B站视频介绍

YoungRicky

@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

YoungRicky

@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

赤诚

@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

YoungRicky

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

赤诚

@1132109242 我就是用的gazebo插件，兄弟，你的搞好了吗