新建功能包mbot_description
在功能包下新建文件config,launch,meshes,urdf。
在launch文件夹下新建文件display_mbot_base_urdf.launch
1 <launch> 2 <param name = "robot_description" textfile = "$(find mbot_description)/urdf/mbot_base.urdf"/> 3 4 <!-- 设置GUI参数，显示关节控制插件 --> 5 <param name="use_gui" value="true"/> 6 7 <!-- 运行joint_state_publisher节点，发布机器人的关节状态 --> 8 <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" /> 9 10 <!-- 运行robot_state_publisher节点，发布tf --> 11 <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" /> 12 13 <!-- 运行rviz可视化界面 --> 14 <node name="rviz" pkg="rviz" type="rviz" args="-d $(find mbot_description)/config/mbot_urdf.rviz" required="true" /> 15 </launch>
在urdf文件夹中新建文件mbot_base.urdf
1 <?xml version="1.0" ?> 2 <robot name="mbot"> 3 4 <link name="base_link"> 5 <visual> 6 <origin xyz=" 0 0 0" rpy="0 0 0" /> 7 <geometry> 8 <cylinder length="0.16" radius="0.20"/> 9 </geometry> 10 <material name="yellow"> 11 <color rgba="1 0.4 0 1"/> 12 </material> 13 </visual> 14 </link> 15 16 <joint name="left_wheel_joint" type="continuous"> 17 <origin xyz="0 0.19 -0.05" rpy="0 0 0"/> 18 <parent link="base_link"/> 19 <child link="left_wheel_link"/> 20 <axis xyz="0 1 0"/> 21 </joint> 22 23 <link name="left_wheel_link"> 24 <visual> 25 <origin xyz="0 0 0" rpy="1.5707 0 0" /> 26 <geometry> 27 <cylinder radius="0.06" length = "0.025"/> 28 </geometry> 29 <material name="white"> 30 <color rgba="1 1 1 0.9"/> 31 </material> 32 </visual> 33 </link> 34 35 <joint name="right_wheel_joint" type="continuous"> 36 <origin xyz="0 -0.19 -0.05" rpy="0 0 0"/> 37 <parent link="base_link"/> 38 <child link="right_wheel_link"/> 39 <axis xyz="0 1 0"/> 40 </joint> 41 42 <link name="right_wheel_link"> 43 <visual> 44 <origin xyz="0 0 0" rpy="1.5707 0 0" /> 45 <geometry> 46 <cylinder radius="0.06" length = "0.025"/> 47 </geometry> 48 <material name="white"> 49 <color rgba="1 1 1 0.9"/> 50 </material> 51 </visual> 52 </link> 53 54 <joint name="front_caster_joint" type="continuous"> 55 <origin xyz="0.18 0 -0.095" rpy="0 0 0"/> 56 <parent link="base_link"/> 57 <child link="front_caster_link"/> 58 <axis xyz="0 1 0"/> 59 </joint> 60 61 <link name="front_caster_link"> 62 <visual> 63 <origin xyz="0 0 0" rpy="0 0 0"/> 64 <geometry> 65 <sphere radius="0.015" /> 66 </geometry> 67 <material name="black"> 68 <color rgba="0 0 0 0.95"/> 69 </material> 70 </visual> 71 </link> 72 73 <joint name="back_caster_joint" type="continuous"> 74 <origin xyz="-0.18 0 -0.095" rpy="0 0 0"/> 75 <parent link="base_link"/> 76 <child link="back_caster_link"/> 77 <axis xyz="0 1 0"/> 78 </joint> 79 80 <link name="back_caster_link"> 81 <visual> 82 <origin xyz="0 0 0" rpy="0 0 0"/> 83 <geometry> 84 <sphere radius="0.015" /> 85 </geometry> 86 <material name="black"> 87 <color rgba="0 0 0 0.95"/> 88 </material> 89 </visual> 90 </link> 91 92 <link name="kinect_link"> 93 <visual> 94 <origin xyz="0 0 0" rpy="0 0 1.5708"/> 95 <geometry> 96 <mesh filename="package://mbot_description/meshes/kinect.dae" /> 97 </geometry> 98 </visual> 99 </link> 100 101 <joint name="laser_joint" type="fixed"> 102 <origin xyz="0.15 0 0.11" rpy="0 0 0"/> 103 <parent link="base_link"/> 104 <child link="kinect_link"/> 105 </joint> 106 107 </robot>
在meshes文件夹下有文件
通过urdf_to_graphiz命令查看URDF模型结构：
生成PDF
