八 Gazebo学习总结之附加抓手到机器人

本文主要是介绍八 Gazebo学习总结之附加抓手到机器人，希望对大家解决编程问题提供一定的参考价值，需要的开发者们随着小编来一起学习吧！

开始Gazebo，确定能从先前的教程中载入模型。

1.应该有如下图所示的底座。

2.根据经验，为了使模型变大，修改~/.gazebo/models/my_robot/model.sdf，让小车能容纳抓手。

gedit ~/.gazebo/models/my_robot/model.sdf

按以下程序更新内容：

<?xml version='1.0'?>
<sdf version='1.4'>
<model name="mobile_base">
<link name='chassis'><pose>0 0 .25 0 0 0</pose><inertial><mass>20.0</mass><pose>-0.1 0 -0.1 0 0 0</pose><inertia><ixx>0.5</ixx><iyy>1.0</iyy><izz>0.1</izz></inertia></inertial><collision name='collision'><geometry><box><size>2 1 0.3</size></box></geometry></collision><visual name='visual'><geometry><box><size>2 1 0.3</size></box></geometry></visual><collision name='caster_collision'><pose>-0.8 0 -0.125 0 0 0</pose><geometry><sphere><radius>.125</radius></sphere></geometry><surface><friction><ode><mu>0</mu><mu2>0</mu2></ode></friction></surface></collision><visual name='caster_visual'><pose>-0.8 0 -0.125 0 0 0</pose><geometry><sphere><radius>.125</radius></sphere></geometry></visual>
</link>
<link name="left_wheel"><pose>0.8 0.6 0.125 0 1.5707 1.5707</pose><collision name="collision"><geometry><cylinder><radius>.125</radius><length>.05</length></cylinder></geometry></collision><visual name="visual"><geometry><cylinder><radius>.125</radius><length>.05</length></cylinder></geometry></visual>
</link><link name="right_wheel"><pose>0.8 -0.6 0.125 0 1.5707 1.5707</pose><collision name="collision"><geometry><cylinder><radius>.125</radius><length>.05</length></cylinder></geometry></collision><visual name="visual"><geometry><cylinder><radius>.125</radius><length>.05</length></cylinder></geometry></visual>
</link><joint type="revolute" name="left_wheel_hinge"><pose>0 0 -0.03 0 0 0</pose><child>left_wheel</child><parent>chassis</parent><axis><xyz>0 1 0</xyz></axis>
</joint><joint type="revolute" name="right_wheel_hinge"><pose>0 0 0.03 0 0 0</pose><child>right_wheel</child><parent>chassis</parent><axis><xyz>0 1 0</xyz></axis>
</joint></model>
</sdf>

更新后结果如下：

组装复合机器人：

1.创建新的模型目录

mkdir ~/.gazebo/models/simple_mobile_manipulator
cd ~/.gazebo/models/simple_mobile_manipulator

编辑模型的配置文件

gedit ~/.gazebo/models/simple_mobile_manipulator/model.config

复制以下程序到配置文件：

<?xml version="1.0"?>
<model>
<name>Simple Mobile Manipulator</name>
<version>1.0</version>
<sdf version='1.4'>model.sdf</sdf><author>
<name>My Name</name>
<email>me@my.email</email>
</author><description>
My simple mobile manipulator
</description>
</model>

2.创建模型SDF文件。

gedit ~/.gazebo/models/simple_mobile_manipulator/model.sdf

复制以下内容到.sdf文件中：

<?xml version="1.0" ?>
<sdf version="1.3">
<model name="simple_mobile_manipulator"><include><uri>model://my_gripper</uri><pose>1.3 0 0.1 0 0 0</pose>
</include><include><uri>model://my_robot</uri><pose>0 0 0 0 0 0</pose>
</include><joint name="arm_gripper_joint" type="revolute"><parent>mobile_base::chassis</parent><child>simple_gripper::riser</child><axis><limit><lower>0</lower><upper>0</upper></limit><xyz>0 0 1</xyz></axis>
</joint><!-- attach sensor to the gripper -->
<include><uri>model://hokuyo</uri><pose>1.3 0 0.3 0 0 0</pose>
</include><joint name="hokuyo_joint" type="revolute"><child>hokuyo::link</child><parent>simple_gripper::palm</parent><axis><xyz>0 0 1</xyz><limit><upper>0</upper><lower>0</lower></limit></axis>
</joint></model>
</sdf>

3.保存模型的.config和.sdf文件，运行Gazebo。