ac2c6870-d247-408e-9f1c-5d79497a2aec-图片.png

an@ubuntu:~/chat2_cpp/chapt2_ws$ ros2 run demo_python_pkg person_node
/opt/ros/foxy/bin/ros2:6: DeprecationWarning: pkg_resources is deprecated as an API. See https://setuptools.pypa.io/en/latest/pkg_resources.html
from pkg_resources import load_entry_point
No executable found

版本

Ubuntu 22.04 ROS2 humble ignition gazebo 6.17

问题描述：

尝试使用plugin来控制场景的model来构建一个有动态障碍物场景，sdf文件如下： <?xml version="1.0" ?> <sdf version="1.7"> <world name="dynamic_world"> <physics name="1ms" type="ignored"> <max_step_size>0.001</max_step_size> <real_time_factor>1.0</real_time_factor> </physics> <!-- 插入天空环境 --> <atmosphere type="adiabatic"/> <!-- 插入一个光源 --> <light name="sun_light" type="directional"> <cast_shadows>true</cast_shadows> <pose>0 0 10 0 0 0</pose> <diffuse>1 1 1 1</diffuse> <specular>0.1 0.1 0.1 1</specular> <direction>-0.5 0.5 -1</direction> </light> <!-- 插入地面平面 --> <model name="ground_plane"> <static>true</static> <link name="link"> <collision name="collision"> <geometry> <plane> <normal>0 0 1</normal> <size>100 100</size> </plane> </geometry> </collision> <visual name="visual"> <geometry> <plane> <normal>0 0 1</normal> <size>100 100</size> </plane> </geometry> <material> <ambient>0.5 0.5 0.5 1</ambient> <diffuse>0.5 0.5 0.5 1</diffuse> </material> </visual> </link> </model> <model name="pedestrian_0"> <static>false</static> <link name="link_p0"> <pose>-4 7 0 0 0 0</pose> <inertial> <mass>55</mass> <inertia> <ixx>14.86</ixx><ixy>0</ixy><ixz>0</ixz> <iyy>16.23</iyy><iyz>0</iyz> <izz>2.36</izz> </inertia> </inertial> <collision name="box"> <pose>0 0 0.9 0 0 0</pose> <geometry> <cylinder> <radius>0.17</radius> <length>1.77</length> </cylinder> </geometry> </collision> <visual name="visual"> <geometry> <cylinder> <radius>0.17</radius> <length>1.77</length> </cylinder> </geometry> <material> <ambient>0.8 0.2 0.2 1</ambient> <diffuse>0.8 0.2 0.2 1</diffuse> </material> </visual> </link> <plugin filename="libignition-gazebo-velocity-control-system.so" name="ignition::gazebo::systems::VelocityControl"> <initial_linear>0.0 0.0 0.0</initial_linear> <initial_angular>0.0 0.0 0.0</initial_angular> <topic>/pedestrian_0/cmd_vel</topic> <link_name>link_p0</link_name> </plugin> <plugin filename="libignition-gazebo-pose-publisher-system.so" name="ignition::gazebo::systems::PosePublisher"> <publish_link_pose>true</publish_link_pose> <publish_model_pose>true</publish_model_pose> </plugin> </model> </world> </sdf> 但是ign topic -e -t /model/pedestrian_0/pose一直只输出model的初始位置，如下： ... header { stamp { sec: 20 nsec: 985000000 } data { key: "frame_id" value: "pedestrian_0" } data { key: "child_frame_id" value: "pedestrian_0::link_p0" } } name: "pedestrian_0::link_p0" position { x: -4 y: 7 } orientation { w: 1 } header { stamp { sec: 20 nsec: 986000000 } data { key: "frame_id" value: "pedestrian_0" } data { key: "child_frame_id" value: "pedestrian_0::link_p0" } } name: "pedestrian_0::link_p0" position { x: -4 y: 7 } orientation { w: 1 } header { stamp { sec: 20 nsec: 987000000 } data { key: "frame_id" value: "pedestrian_0" } data { key: "child_frame_id" value: "pedestrian_0::link_p0" } } name: "pedestrian_0::link_p0" position { x: -4 y: 7 } orientation { w: 1 } header { stamp { sec: 20 nsec: 988000000 } data { key: "frame_id" value: "pedestrian_0" } data { key: "child_frame_id" value: "pedestrian_0::link_p0" } } name: "pedestrian_0::link_p0" position { x: -4 y: 7 } orientation { w: 1 } ...

这个怎么解决呢，怎么实时输出场景中model的pose呢😧

e1056530-d089-4389-8c6c-107e33f413cb-image.png
已经安装了包espeakng
ed95aaf0-b965-4ce8-8195-bbb2655b797b-image.png
系统是22.04

在wsl2，ubuntu22.04，ros2-humble中，输入rqt命令，提示：
could not connect to display
This application failed to start because no Qt platform plugin could be initialized. Reinstalling the application may fix this problem.

Available platform plugins are: eglfs, linuxfb, minimal, minimalegl, offscreen, vnc, xcb.

终端运行指令

ros2 run v4l2_camera v4l2_camera_node

然后终端输出

[INFO] [1740129310.150471961] [v4l2_camera]: Driver: uvcvideo [INFO] [1740129310.151033248] [v4l2_camera]: Version: 331688 [INFO] [1740129310.151131432] [v4l2_camera]: Device: USB Camera: USB Camera [INFO] [1740129310.151178135] [v4l2_camera]: Location: usb-0000:01:00.0-1.2 [INFO] [1740129310.151216116] [v4l2_camera]: Capabilities: [INFO] [1740129310.151256263] [v4l2_camera]: Read/write: NO [INFO] [1740129310.151294726] [v4l2_camera]: Streaming: YES [INFO] [1740129310.151354058] [v4l2_camera]: Current pixel format: MJPG @ 1920x1080 [INFO] [1740129310.151693294] [v4l2_camera]: Available pixel formats: [INFO] [1740129310.151753626] [v4l2_camera]: MJPG - Motion-JPEG [INFO] [1740129310.151794755] [v4l2_camera]: YUYV - YUYV 4:2:2 [INFO] [1740129310.151832773] [v4l2_camera]: Available controls: [INFO] [1740129310.151887587] [v4l2_camera]: Brightness (1) = 0 [INFO] [1740129310.151939845] [v4l2_camera]: Contrast (1) = 34 [INFO] [1740129310.151990789] [v4l2_camera]: Saturation (1) = 56 [INFO] [1740129310.152039881] [v4l2_camera]: Hue (1) = 0 [INFO] [1740129310.152087954] [v4l2_camera]: White Balance, Automatic (2) = 1 [INFO] [1740129310.152136453] [v4l2_camera]: Gamma (1) = 100 [INFO] [1740129310.152183989] [v4l2_camera]: Gain (1) = 0 [INFO] [1740129310.152231563] [v4l2_camera]: Power Line Frequency (3) = 1 [INFO] [1740129310.152658352] [v4l2_camera]: White Balance Temperature (1) = 4000 [inactive] [INFO] [1740129310.152733444] [v4l2_camera]: Sharpness (1) = 2 [INFO] [1740129310.152827553] [v4l2_camera]: Backlight Compensation (1) = 0 [ERROR] [1740129310.152889515] [v4l2_camera]: Failed getting value for control 10092545: Permission denied (13); returning 0! [INFO] [1740129310.152935329] [v4l2_camera]: Camera Controls (6) = 0 [INFO] [1740129310.152987162] [v4l2_camera]: Auto Exposure (3) = 3 [INFO] [1740129310.153370119] [v4l2_camera]: Exposure Time, Absolute (1) = 313 [inactive] [INFO] [1740129310.153436433] [v4l2_camera]: Exposure, Dynamic Framerate (2) = 1 [ERROR] [1740129310.154025368] [v4l2_camera]: Failed getting value for control 10094856: Input/output error (5); returning 0! [INFO] [1740129310.154085033] [v4l2_camera]: Pan, Absolute (1) = 0 [ERROR] [1740129310.154709412] [v4l2_camera]: Failed getting value for control 10094857: Input/output error (5); returning 0! [INFO] [1740129310.154836244] [v4l2_camera]: Tilt, Absolute (1) = 0 [WARN] [1740129310.156985969] [v4l2_camera]: Control type not currently supported: 6, for control: Camera Controls terminate called after throwing an instance of 'rclcpp::exceptions::InvalidParameterValueException' what(): parameter 'pan_absolute' could not be set: Parameter {pan_absolute} doesn't comply with integer range. [ros2run]: Aborted

当前用户是有操作摄像头的权限的，但依然还是出现这些问题，请各位大佬帮忙看看

a62806d8-b04f-4097-a0e2-0f028d309dc3-image.png 求大佬帮我看看，/tf发布了三个变换，/odom也正常发布了，/scan不知道什么原因没有在这里显示出来，但是使用echo可以打印发布的内容，内容频率什么的已经问过gpt了，tf树也可视化过了，都没什么问题。但是就/odom没法接收，一直报错。有试过将odom设置成base_frame，没报错了，但是/map不发布。求解😩

环境：WSL2 Ubuntu-22.04
错误：qt无法正常显示中文
72e9b13d-dab6-427f-98a9-20118ca1ec63-image.png

#include<QApplication> #include<QLabel> #include<QString> #include "rclcpp/rclcpp.hpp" #include "status_interfaces/msg/system_status.hpp" using SystemStatus = status_interfaces::msg::SystemStatus; class SystemDisplay :public rclcpp::Node{ public: SystemDisplay():Node("sys_status_display"){ sub = this->create_subscription<SystemStatus>( "sys_status", 10, [&](const SystemStatus::SharedPtr msg) -> void{ label->setText(get_qstr_from_msg(msg)); } ); label = new QLabel(get_qstr_from_msg(std::make_shared<SystemStatus>())); label->show(); } QString get_qstr_from_msg(const SystemStatus::SharedPtr msg){ std::stringstream show_str; show_str << "===========系统状态可视化显示工具============\n" << "数 据 时 间:\t" << msg->stamp.sec << "\ts\n" << "用 户 名:\t" << msg->host_name << "\t\n" << "CPU使用率:\t" << msg->cpu_percent << "\t%\n" << "内存使用率:\t" << msg->memory_percent << "\t%\n" << "内存总大小:\t" << msg->memory_total << "\tMB\n" << "剩余有效内存:\t" << msg->memory_available << "\tMB\n" << "网络发送量:\t" << msg->net_sent << "\tMB\n" << "网络接收量:\t" << msg->net_recv << "\tMB\n" << "=========================================="; return QString::fromStdString(show_str.str()); } private: rclcpp::Subscription<SystemStatus>::SharedPtr sub; QLabel* label; }; int main(int argc,char** argv){ rclcpp::init(argc,argv); QApplication app(argc,argv); auto node = std::make_shared<SystemDisplay>(); std::thread spin_thread([&]()->void{ rclcpp::spin(node); }); spin_thread.detach(); app.exec(); rclcpp::shutdown(); return 0; }

代码和书上的一样。

在《ROS2机器人开发 从入门到实践》中讲到了给机器人安装深度相机插件和激光雷达插件，但是在移动机器人导航时只用到了激光雷达的建图和导航，似乎深度相机并没有什么用处。在这里想要请教各位，现想要用深度相机进行移动机器人的建图和导航该如何做呢？以我学习到的知识来说似乎需要写一个配置文件，至于具体的操作并不是很清楚，请各位有这方面能力的大佬不吝赐教。

sunrise@ubuntu:~/laser_ws$ colcon build --parallel-workers 8
Starting >>> openslam_gmapping
Starting >>> rf2o_laser_odometry
Starting >>> ydlidar_ros2_driver
Finished <<< openslam_gmapping [1.47s]
Starting >>> slam_gmapping
[Processing: rf2o_laser_odometry, slam_gmapping, ydlidar_ros2_driver]
[Processing: rf2o_laser_odometry, slam_gmapping, ydlidar_ros2_driver]
[Processing: rf2o_laser_odometry, slam_gmapping, ydlidar_ros2_driver]
[Processing: rf2o_laser_odometry, slam_gmapping, ydlidar_ros2_driver]
[2min 54.4s] [1/4 complete] [3 ongoing] ...[Processing: rf2o_laser_odometry, slam_gmapping, ydlidar_ros2_driver]

自定义通信接口例子，SystemStatus.msg 构建功能包时，命令行
colcon build --packages-select status_interfaces

报错信息如下：

Starting >>> status_interfaces
--- stderr: status_interfaces
CMake Error at /opt/ros/jazzy/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:234 (list):
list index: 1 out of range (-1, 0)
Call Stack (most recent call first):
CMakeLists.txt:16 (rosidl_generate_interfaces)

CMake Error at /opt/ros/jazzy/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:234 (list):
list index: 1 out of range (-1, 0)
Call Stack (most recent call first):
CMakeLists.txt:16 (rosidl_generate_interfaces)

CMake Error at /opt/ros/jazzy/share/rosidl_generator_type_description/cmake/rosidl_generator_type_description_generate_interfaces.cmake:68 (message):
Target dependency
'/ROS2/pkg_ws/build/status_interfaces/rosidl_adapter/status_interfaces/msg/SystemStatus.idl'
does not exist
Call Stack (most recent call first):
/opt/ros/jazzy/share/ament_cmake_core/cmake/core/ament_execute_extensions.cmake:48 (include)
/opt/ros/jazzy/share/rosidl_cmake/cmake/rosidl_generate_interfaces.cmake:280 (ament_execute_extensions)
CMakeLists.txt:16 (rosidl_generate_interfaces)

操作步骤如下：
1.使用下面命令创建工作区间后
ros2 pkg create status_interfaces --build-type ament_cmake --dependencies rosidl_default_generators builtin_interfaces --license Apache-2.0

2.建立文件 status_interfaces/msg/SystemStatus.msg

3.CMLists.txt内容如下
cmake_minimum_required(VERSION 3.8)
project(status_interfaces)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
add_compile_options(-Wall -Wextra -Wpedantic)
endif()

find dependencies

find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(std_msgs REQUIRED)
find_package(rosidl_default_generators REQUIRED)

find_package(builtin_interfaces REQUIRED)

rosidl_generate_interfaces(${PROJECT_NAME}
"msg/SystemStatus.msg"
DEPENDENCIES builtin_interfaces
)

if(BUILD_TESTING)
find_package(ament_lint_auto REQUIRED)

the following line skips the linter which checks for copyrights comment the line when a copyright and license is added to all source files

set(ament_cmake_copyright_FOUND TRUE)

the following line skips cpplint (only works in a git repo) comment the line when this package is in a git repo and when a copyright and license is added to all source files

set(ament_cmake_cpplint_FOUND TRUE)
ament_lint_auto_find_test_dependencies()
endif()

ament_package()

4.package.xml内容如下
<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>status_interfaces</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="d@todo.todo">d</maintainer>
<license>Apache-2.0</license>

<buildtool_depend>ament_cmake</buildtool_depend>

<depend>rclcpp</depend>
<depend>std_msgs</depend>
<build_depend>rosidl_default_generators</build_depend>
<exec_depend>rosidl_default_runtime</exec_depend>
<member_of_group>rosidl_interface_packages</member_of_group>
<depend>builtin_interfaces</depend>

<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>

<export>
<build_type>ament_cmake</build_type>
</export>
</package>

1.png 2.png 3.png

9.4.1 第一个节点 main.cpp的内容如下： #include <Arduino.h> #include <Esp32McpwmMotor.h> #include <Esp32PcntEncoder.h> #include "PidController.h" #include "Kinematics.h" // 引入MicroROS 和 wifi的库 #include <WiFi.h> #include <micro_ros_platformio.h> #include <rcl/rcl.h> #include <rclc/rclc.h> #include <rclc/executor.h> rcl_allocator_t allocator; // 内存分配器，动态内存分配管理 rclc_support_t support; // 存储时钟，内存分配器和上下文，用于提供支持 rclc_executor_t executor; // 执行器，用于管理订阅和计时器回调的执行 rcl_node_t node; // 节点 // 单独创建一个任务运行micro-ROS 相当于一个线程 void microros_task(void* args) { // 设置传输协议并延迟一段时间等待设置的完成 IPAddress agent_ip; agent_ip.fromString("192.168.1.103"); uint16_t agent_port = 8888; set_microros_wifi_transports("lsy","12345678",agent_ip,agent_port); delay(2000); // 初始化内存分配器 allocator = rcl_get_default_allocator(); //获取默认的内存分配器 // 初始化支持 rclc_support_init(&support,0,NULL,&allocator); // 初始化节点 rclc_node_init_default(&node, "robot_motion_control","",&support); // 初始化执行器 unsigned int num_handles = 0; rclc_executor_init(&executor,&support.context,num_handles,&allocator); // 循环执行器 rclc_executor_spin(&executor); } Esp32McpwmMotor motor; // 创建一个名为motor的对象，用于控制电机 Esp32PcntEncoder encoders[2]; // 创建一个数组用于存储两个编码器 PidController pid_controller[2]; Kinematics kinematics; float target_angular_speed = 0.1; // rad/s float target_linear_speed = 50.0; // mm/s float out_left_speed = 0.0; float out_right_speed = 0.0; void setup() { Serial.begin(115200); // 初始化串口通信，波特率为115200 motor.attachMotor(0, 22, 23); // 将电机0连接到引脚22和引脚23 motor.attachMotor(1, 12, 13); // 将电机1连接到引脚12和引脚13 encoders[0].init(0, 32, 33); // 初始化第一个编码器，使用GPIO 32和33连接 encoders[1].init(1, 26, 25); // 初始化第二个编码器，使用GPIO 26和25连接 // 初始化pid参数 pid_controller[0].update_pid(0.625, 0.125, 0); pid_controller[1].update_pid(0.625, 0.125, 0); pid_controller[0].out_limit(-100, 100); pid_controller[1].out_limit(-100, 100); // 初始化运动学参数 kinematics.set_wheel_distance(175); // mm kinematics.set_motor_param(0, 0.1033); // 单个脉冲的行走距离 mm kinematics.set_motor_param(1, 0.1033); kinematics.kinematics_inverse(target_linear_speed, target_angular_speed, out_left_speed, out_right_speed); Serial.printf("OUT:out_left_speed=%d,out_right_speed=%d\n", out_left_speed, out_right_speed); pid_controller[0].update_target(out_left_speed); pid_controller[1].update_target(out_right_speed); // 创建一个任务启动 micro_ROS // 第一个参数，运行的函数;第二个参数，任务的名字;第三个参数，分配内存的大小（字节）;第五个参数，优先级 xTaskCreate(microros_task,"microros_task",10240,NULL,1,NULL); } void loop() { delay(10); // 等待10毫秒 // Serial.printf("current_speed1=%d,current_speed=%d\n", last_ticks[0], last_ticks[1]); kinematics.update_motor_speed(millis(), encoders[0].getTicks(), encoders[1].getTicks()); motor.updateMotorSpeed(0, pid_controller[0].update(kinematics.get_motor_speed(0))); motor.updateMotorSpeed(1, pid_controller[1].update(kinematics.get_motor_speed(1))); // Serial.printf("OUT:out_left_speed=%d,out_right_speed=%d\n", kinematics.get_motor_speed(0),kinematics.get_motor_speed(1)); Serial.printf("x=%f,y=%f,yaw=%f\n", kinematics.get_odom().x, kinematics.get_odom().y, kinematics.get_odom().angle); } 编译过程出现wanning src/main.cpp: In function 'void microros_task(void*)': src/main.cpp:27:70: warning: ISO C++ forbids converting a string constant to 'char*' [-Wwrite-strings] set_microros_wifi_transports("lsy","12345678",agent_ip,agent_port); ^ src/main.cpp:27:70: warning: ISO C++ forbids converting a string constant to 'char*' [-Wwrite-strings] 串口输出 x=0.125146,y=0.017394,yaw=0.261623 x=0.125691,y=0.017540,yaw=0.262171 x=0.126183,y=0.017673,yaw=0.263314 Guru Meditation Error: Core 1 panic'ed (IllegalInstruction). Exception was unhandled. Memory dump at 0x400d2cb0: 6cab6520 04adf01d e5201110 Core 1 register dump: PC : 0x400d2cb4 PS : 0x00060730 A0 : 0x00000000 A1 : 0x3ffb4a70 A2 : 0x3ffc3d40 A3 : 0x3ffc3cb8 A4 : 0x3ffc3d74 A5 : 0x00000000 A6 : 0x00000000 A7 : 0x00000000 A8 : 0x800d2cb4 A9 : 0x3ffb4a50 A10 : 0x00000001 A11 : 0xfffffffd A12 : 0x00000000 A13 : 0x00000000 A14 : 0x00000001 A15 : 0x3ffc3cb8 SAR : 0x00000020 EXCCAUSE: 0x00000000 EXCVADDR: 0x00000000 LBEG : 0x40084681 LEND : 0x40084689 LCOUNT : 0x00000027 Backtrace: 0x400d2cb1:0x3ffb4a70 ELF file SHA256: 49c2f071dd978ec8 Rebooting... ets Jul 29 2019 12:21:46 rst:0xc (SW_CPU_RESET),boot:0x13 (SPI_FAST_FLASH_BOOT) configsip: 0, SPIWP:0xee clk_drv:0x00,q_drv:0x00,d_drv:0x00,cs0_drv:0x00,hd_drv:0x00,wp_drv:0x00 mode:DIO, clock div:2 load:0x3fff0030,len:1184 load:0x40078000,len:13232 load:0x40080400,len:3028 entry 0x400805e4 OUT:out_left_speed=41.250000,out_right_speed=58.750000 x=0.000070,y=0.000000,yaw=0.000800 x=0.000119,y=0.000000,yaw=0.002480 x=0.000217,y=0.000001,yaw=0.003600 x=0.000217,y=0.000001,yaw=0.003600

581189eb-e045-41f3-9705-b16451490e49-image.png
为什么这里只对x方向速度做修正，不对y方向速度做修正。

212a3766-93d6-4dba-9bd7-288a4083f710-image.png
为什么红色标注的地方不是减号，这里的坐标系变换的数学关系可以秒速一下吗？

/home/tan/.local/lib/python3.8/site-packages/setuptools/dist.py:495: SetuptoolsDeprecationWarning: Invalid dash-separated options
!!

******************************************************************************** Usage of dash-separated 'script-dir' will not be supported in future versions. Please use the underscore name 'script_dir' instead. By 2025-Mar-03, you need to update your project and remove deprecated calls or your builds will no longer be supported. See https://setuptools.pypa.io/en/latest/userguide/declarative_config.html for details. ********************************************************************************

!!
opt = self.warn_dash_deprecation(opt, section)
/home/tan/.local/lib/python3.8/site-packages/setuptools/dist.py:495: SetuptoolsDeprecationWarning: Invalid dash-separated options
!!

******************************************************************************** Usage of dash-separated 'install-scripts' will not be supported in future versions. Please use the underscore name 'install_scripts' instead. By 2025-Mar-03, you need to update your project and remove deprecated calls or your builds will no longer be supported. See https://setuptools.pypa.io/en/latest/userguide/declarative_config.html for details. ********************************************************************************

!!
opt = self.warn_dash_deprecation(opt, section)

5e380fd0-c83d-4556-a728-f9f4c7d96be6-image.png
为什么这里的里程计使用的的是小车局部坐标系下的线速度和角速度。
里程计的线速度和角速度不应该实在全局坐标系下的吗。

请问一下这是什么问题导致，所有包编译都有问题

0f943f5a-46c9-4fe7-9a5a-b77e38815858-image.png

hb@hb-VMware-Virtual-Platform:/Ashared/RosWorkSpace/chart3$ python3 -m http.server

Serving HTTP on 0.0.0.0 port 8000 (http://0.0.0.0:8000/) ...

127.0.0.1 - - 【02/Jan/2025 22:59:48】 code 404, message File not found

127.0.0.1 - - 【02/Jan/2025 22:59:48】 "GET /novel1.txt HTTP/1.1" 404 -

网上找了一个urdf代码，通过launch文件在rviz中启动，模型是正常的，于是就尝试添加gazebo的颜色标签，通过launch文件将urdf代码加载进gazebo中进行显示。发现无法显示，卡了很久了，该launch文件没有问题，加载其余的可以在gazebo中正常显示。为什么只加了gazebo颜色标签却无法显示呢。下面是urdf代码部分

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

<link name="base_footprint">

</link>
<link name="base_link">
<inertial>
<origin
xyz="-0.0119754973846389 -0.000133372463647142 0.021017784029409" rpy="0 0 0" />
<mass
value="0.431538267108837" />
<inertia
ixx="0.00025452933099881"
ixy="1.90798049636859E-06"
ixz="-8.81627294628033E-07"
iyy="0.00037243817570695"
iyz="4.03071469874943E-07"
izz="0.000540327179164314" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/base_link.STL" />
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/base_link.STL" />
</geometry>
</collision>
</link>
<gazebo reference="base_link">
<material>Gazebo/White</material>
</gazebo>

<joint name="base_joint" type="fixed">
<parent link="base_footprint" />
<child link="base_link" />
<origin xyz="0.0 0.0 0.022" rpy="0 0 0" />
</joint>

<link name="lb_link">
<inertial>
<origin
xyz="-1.74588455068014E-07 -0.000208203511794444 3.83077326214509E-08"
rpy="0 0 0" />
<mass
value="0.0456749740999707" />
<inertia
ixx="1.81808801892974E-05"
ixy="-1.7622297358917E-11"
ixz="3.41287253300913E-12"
iyy="3.14403863492233E-05"
iyz="1.33311989069345E-11"
izz="1.81803662298203E-05" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/lb_link.STL" />
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/lb_link.STL" />
</geometry>
</collision>
</link>

<gazebo reference="lb_link">
<material>Gazebo/Black</material>
</gazebo>
<joint name="lb_joint"
type="continuous">
<origin xyz="-0.069657 0.07975 0.0162" rpy="0 0 0" />
<parent
link="base_link" />
<child
link="lb_link" />
<axis
xyz="0 -1 0" />
</joint>
<link name="rb_link">
<inertial>
<origin
xyz="-1.21641156911045E-07 0.000208202847118158 3.82869461863777E-08"
rpy="0 0 0" />
<mass
value="0.0456749740269158" />
<inertia
ixx="1.81808800640407E-05"
ixy="-1.76128053558607E-11"
ixz="-3.39346241698698E-12"
iyy="3.14403861845454E-05"
iyz="-1.33298144631598E-11"
izz="1.81803661907041E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/rb_link.STL" />
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/rb_link.STL" />
</geometry>
</collision>
</link>
<gazebo reference="rb_link">
<material>Gazebo/Black</material>
</gazebo>

<joint name="rb_joint"
type="continuous">
<origin
xyz="-0.069657 -0.079776 0.0162"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="rb_link" />
<axis
xyz="0 -1 0" />
</joint>

<link name="laser_link">
<inertial>
<origin
xyz="0.00196458631092469 -3.57895453832374E-06 -0.000201831632616292"
rpy="0 0 0" />
<mass
value="0.0477519163756088" />
<inertia
ixx="3.38461999756745E-05"
ixy="-2.19897168323003E-09"
ixz="1.07118468678157E-06"
iyy="3.94150415873187E-05"
iyz="6.83978024968062E-10"
izz="5.60787042126573E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/laser.STL" />
</geometry>
<material name="blue">
<color rgba="0 0 0.4 1"/>
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/laser.STL" />
</geometry>
</collision>
</link>
<gazebo reference="laser_link">
<material>Gazebo/Blue</material>
</gazebo>

<joint name="laser_joint"
type="fixed">
<origin
xyz="0.051343 -1.2576E-05 0.094524"
rpy="0 0 3.1416" />
<parent
link="base_link" />
<child
link="laser_link" />
<axis
xyz="0 0 0" />
</joint>

<link name="left_link">
<inertial>
<origin
xyz="-0.00429085747483857 0.0111736945302178 -0.0110145847149603"
rpy="0 0 0" />
<mass
value="0.00476959924663217" />
<inertia
ixx="2.06909949437508E-07"
ixy="-1.04973296356064E-07"
ixz="-1.49927893294707E-09"
iyy="3.93341439527907E-07"
iyz="-5.98007533541798E-10"
izz="4.63369851558769E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/left_link.STL" />
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/left_link.STL" />
</geometry>
</collision>
</link>
<gazebo reference="left_link">
<material>Gazebo/Black</material>
</gazebo>

<joint name="left_joint"
type="revolute">
<origin
xyz="0.073593 0.051987 0.022"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="left_link" />
<axis
xyz="0 0 -1" />
<limit
lower="-0.39"
upper="0.39"
effort="0"
velocity="0" />
</joint>
<link name="lf_link">
<inertial>
<origin
xyz="-1.41585548674161E-07 1.91747322367264E-07 -4.64079716027549E-08"
rpy="0 0 0" />
<mass
value="0.0441313542614254" />
<inertia
ixx="1.8122375254286E-05"
ixy="1.01605691640891E-11"
ixz="3.10311319459123E-12"
iyy="3.14074902671165E-05"
iyz="-3.35423251171137E-13"
izz="1.81223732297953E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/lf_link.STL" />
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/lf_link.STL" />
</geometry>
</collision>
</link>
<gazebo reference="lf_link">
<material>Gazebo/Black</material>
</gazebo>

<joint name="lf_joint"
type="continuous">
<origin
xyz="0 0.0301260014087184 -0.0109999999999987"
rpy="0 0 0" />
<parent
link="left_link" />
<child
link="lf_link" />
<axis
xyz="0 -1 0" />
</joint>
<link name="right_link">
<inertial>
<origin
xyz="-0.00429085795403265 -0.0111736943537972 -0.0109854152864204"
rpy="0 0 0" />
<mass
value="0.00476959923857933" />
<inertia
ixx="2.06909958805082E-07"
ixy="1.0497330410809E-07"
ixz="1.4992787833529E-09"
iyy="3.9334142732894E-07"
iyz="-5.98007566775091E-10"
izz="4.63369848741371E-07" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/right_link.STL" />
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/right_link.STL" />
</geometry>
</collision>
</link>
<gazebo reference="right_link">
<material>Gazebo/Black</material>
</gazebo>

<joint name="right_joint"
type="revolute">
<origin
xyz="0.0735933420063898 -0.0520125752742397 0.0219999999999997"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="right_link" />
<axis
xyz="0 0 1" />
<limit
lower="-0.39"
upper="0.39"
effort="0"
velocity="0" />
</joint>
<link name="rf_link">
<inertial>
<origin
xyz="-1.82018104019632E-07 -1.9296458401985E-07 -3.39361436400148E-08"
rpy="0 0 0" />
<mass
value="0.0441313541199343" />
<inertia
ixx="1.81223720754189E-05"
ixy="8.14282826550161E-12"
ixz="-2.30932816847721E-12"
iyy="3.14074908686231E-05"
iyz="-6.6892241788197E-12"
izz="1.81223769687268E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/rf_link.STL" />
</geometry>
<material name="black">
<color rgba="0 0 0 1"/>
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://four_wheel_ackermann/meshes/mini_akm_robot_meshes/rf_link.STL" />
</geometry>
</collision>
</link>
<gazebo reference="rf_link">
<material>Gazebo/Black</material>
</gazebo>

<joint name="rf_joint"
type="continuous">
<origin
xyz="0 -0.0301260001523718 -0.0109999999999997"
rpy="0 0 0" />
<parent
link="right_link" />
<child
link="rf_link" />
<axis
xyz="0 -1 0" />
</joint>

</robot>