在arbotix模擬器中運行自己的Robot
一、建立自己Robot的URDF文件
1.如果你有一個自己的URDF機器人模型,您可以在Arbotix模擬器運行它。如果沒有就自己建立一個。
2.首先複製fake_turtlebot.launch文件
$ roscd rbx1_bringup/launch
$ cp fake_turtlebot.launch fake_my_robot.launch
3.在你最喜歡的編輯器中打開您的啓動文件fake_my_robot.launch。首先,它會像這樣:
<launch>
<param name="/use_sim_time" value="false" />
<!-- Load the URDF/Xacro model of our robot -->
<arg name="urdf_file" default="$(find xacro)/xacro.py '$(find
rbx1_description)/urdf/turtlebot.urdf.xacro'" />
<param name="robot_description" command="$(arg urdf_file)" />
<node name="arbotix" pkg="arbotix_python" type="arbotix_driver"
output="screen">
<rosparam file="$(find rbx1_bringup)/config/fake_turtlebot_arbotix.yaml"
command="load" />
<param name="sim" value="true"/>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher"
type="state_publisher">
<param name="publish_frequency" type="double" value="20.0" />
</node>
</launch>
4.如您所見,URDF模型的加載是代碼的頂部那裏。如果你想使用自己的URDF,只需要簡單的替換包和路徑名指向自己的URDF / Xacro文件。就像下面這樣:
<launch>
<!-- Load the URDF/Xacro model of our robot -->
<arg name="urdf_file" default="$(find xacro)/xacro.py '$(find
YOUR_PACKAGE_NAME)/YOUR_URDF_PATH'" />
<param name="robot_description" command="$(arg urdf_file)" />
<node name="arbotix" pkg="arbotix_python" type="arbotix_driver"
output="screen">
<rosparam file="$(find rbx1_bringup)/config/fake_turtlebot_arbotix.yaml"
command="load" />
<param name="sim" value="true"/>
</node>
<node name="robot_state_publisher" pkg="robot_state_publisher"
type="state_publisher">
<param name="publish_frequency" type="double" value="20.0" />
</node>
</launch>
5.最後將launch文件按我上篇文章的所述運行就可以了。運行效果如下: