机器人编程趣味实践14-机器人三维仿真（Gazebo+TurtleBot3）
【摘要】 之前，介绍了节点、主题、服务和行动等基本概念，以及rqt和rosbag2等工具。
采用了官方改版的二维环境，那么现在玩耍一下更为逼真的三维仿真环境吧。
仿真软件Gazebo机器人TurtleBot3
TurtleBot3支持仿真开发环境，可以在仿真中用虚拟机器人编程开发。 有两种开发环境可以做到这一点，一种是使用带有 3D 可视化工具 RViz 的假节点，另一种是使用...
之前，介绍了节点、主题、服务和行动等基本概念，以及rqt和rosbag2等工具。
采用了官方改版的二维环境，那么现在玩耍一下更为逼真的三维仿真环境吧。
- 仿真软件Gazebo
- 机器人TurtleBot3
TurtleBot3支持仿真开发环境，可以在仿真中用虚拟机器人编程开发。 有两种开发环境可以做到这一点，一种是使用带有 3D 可视化工具 RViz 的假节点，另一种是使用 3D 机器人模拟器 Gazebo。
- 假节点适合用机器人模型和运动进行测试，但不支持传感器。
- 如果需要执行 SLAM 或导航，Gazebo 将是一个可行的解决方案，因为它支持 IMU、LDS 和摄像头等传感器。
环境配置
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# TURTLEBOT3_MODEL
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export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/home/zhangrelay/RobSoft/turtlebot3/src/simulations/turtlebot3_gazebo/models
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export TURTLEBOT3_MODEL=burger
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# ROS2
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source /opt/ros/foxy/setup.bash
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#colcon
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source /usr/share/colcon_cd/function/colcon_cd.sh
源码编译
可以使用deb直接安装：
- sudo apt install ros-foxy-turtlebot3-gazebo
注意包要装全。
这里，采用源码编译如下：
- colcon build
功能包列表如上所示。
仿真实践
1 启动环境
- ros2 launch turtlebot3_gazebo empty_world.launch.py
蓝色射线为激光的可视化效果。
empty_world.launch代码如下：
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import os
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from ament_index_python.packages import get_package_share_directory
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from launch import LaunchDescription
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from launch.actions import ExecuteProcess
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from launch.actions import IncludeLaunchDescription
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch.substitutions import LaunchConfiguration
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TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
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-
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def generate_launch_description():
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use_sim_time = LaunchConfiguration('use_sim_time', default='True')
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world_file_name = 'empty_worlds/' + TURTLEBOT3_MODEL + '.model'
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world = os.path.join(get_package_share_directory('turtlebot3_gazebo'),
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'worlds', world_file_name)
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launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
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pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
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return LaunchDescription([
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
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),
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launch_arguments={'world': world}.items(),
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),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
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),
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),
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ExecuteProcess(
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cmd=['ros2', 'param', 'set', '/gazebo', 'use_sim_time', use_sim_time],
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output='screen'),
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IncludeLaunchDescription(
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PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']),
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launch_arguments={'use_sim_time': use_sim_time}.items(),
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),
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])
2 圆周运动
之前和之前二维环境圆周运动的指令非常类似哦。
- ros2 topic pub --rate 2 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.8}}"
3 键盘遥控
使用如下命令启动键盘遥控：
- ros2 run turtlebot3_teleop teleop_keyboard
键盘遥控代码如下：
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import os
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import select
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import sys
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import rclpy
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from geometry_msgs.msg import Twist
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from rclpy.qos import QoSProfile
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if os.name == 'nt':
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import msvcrt
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else:
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import termios
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import tty
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BURGER_MAX_LIN_VEL = 0.22
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BURGER_MAX_ANG_VEL = 2.84
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WAFFLE_MAX_LIN_VEL = 0.26
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WAFFLE_MAX_ANG_VEL = 1.82
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LIN_VEL_STEP_SIZE = 0.01
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ANG_VEL_STEP_SIZE = 0.1
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TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
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msg = """
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Control Your TurtleBot3!
-
---------------------------
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Moving around:
-
w
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a s d
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x
-
-
w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
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a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)
-
-
space key, s : force stop
-
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CTRL-C to quit
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"""
-
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e = """
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Communications Failed
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"""
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-
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def get_key(settings):
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if os.name == 'nt':
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return msvcrt.getch().decode('utf-8')
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tty.setraw(sys.stdin.fileno())
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rlist, _, _ = select.select([sys.stdin], [], [], 0.1)
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if rlist:
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key = sys.stdin.read(1)
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else:
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key = ''
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termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
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return key
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-
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def print_vels(target_linear_velocity, target_angular_velocity):
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print('currently:\tlinear velocity {0}\t angular velocity {1} '.format(
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target_linear_velocity,
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target_angular_velocity))
-
-
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def make_simple_profile(output, input, slop):
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if input > output:
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output = min(input, output + slop)
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elif input < output:
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output = max(input, output - slop)
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else:
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output = input
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return output
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-
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def constrain(input_vel, low_bound, high_bound):
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if input_vel < low_bound:
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input_vel = low_bound
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elif input_vel > high_bound:
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input_vel = high_bound
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else:
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input_vel = input_vel
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return input_vel
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-
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def check_linear_limit_velocity(velocity):
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if TURTLEBOT3_MODEL == 'burger':
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return constrain(velocity, -BURGER_MAX_LIN_VEL, BURGER_MAX_LIN_VEL)
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else:
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return constrain(velocity, -WAFFLE_MAX_LIN_VEL, WAFFLE_MAX_LIN_VEL)
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-
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def check_angular_limit_velocity(velocity):
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if TURTLEBOT3_MODEL == 'burger':
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return constrain(velocity, -BURGER_MAX_ANG_VEL, BURGER_MAX_ANG_VEL)
-
else:
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return constrain(velocity, -WAFFLE_MAX_ANG_VEL, WAFFLE_MAX_ANG_VEL)
-
-
-
def main():
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settings = None
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if os.name != 'nt':
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settings = termios.tcgetattr(sys.stdin)
-
-
rclpy.init()
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qos = QoSProfile(depth=10)
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node = rclpy.create_node('teleop_keyboard')
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pub = node.create_publisher(Twist, 'cmd_vel', qos)
-
-
status = 0
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target_linear_velocity = 0.0
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target_angular_velocity = 0.0
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control_linear_velocity = 0.0
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control_angular_velocity = 0.0
-
-
try:
-
print(msg)
-
while(1):
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key = get_key(settings)
-
if key == 'w':
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target_linear_velocity =\
-
check_linear_limit_velocity(target_linear_velocity + LIN_VEL_STEP_SIZE)
-
status = status + 1
-
print_vels(target_linear_velocity, target_angular_velocity)
-
elif key == 'x':
-
target_linear_velocity =\
-
check_linear_limit_velocity(target_linear_velocity - LIN_VEL_STEP_SIZE)
-
status = status + 1
-
print_vels(target_linear_velocity, target_angular_velocity)
-
elif key == 'a':
-
target_angular_velocity =\
-
check_angular_limit_velocity(target_angular_velocity + ANG_VEL_STEP_SIZE)
-
status = status + 1
-
print_vels(target_linear_velocity, target_angular_velocity)
-
elif key == 'd':
-
target_angular_velocity =\
-
check_angular_limit_velocity(target_angular_velocity - ANG_VEL_STEP_SIZE)
-
status = status + 1
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print_vels(target_linear_velocity, target_angular_velocity)
-
elif key == ' ' or key == 's':
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target_linear_velocity = 0.0
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control_linear_velocity = 0.0
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target_angular_velocity = 0.0
-
control_angular_velocity = 0.0
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print_vels(target_linear_velocity, target_angular_velocity)
-
else:
-
if (key == '\x03'):
-
break
-
-
if status == 20:
-
print(msg)
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status = 0
-
-
twist = Twist()
-
-
control_linear_velocity = make_simple_profile(
-
control_linear_velocity,
-
target_linear_velocity,
-
(LIN_VEL_STEP_SIZE / 2.0))
-
-
twist.linear.x = control_linear_velocity
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twist.linear.y = 0.0
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twist.linear.z = 0.0
-
-
control_angular_velocity = make_simple_profile(
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control_angular_velocity,
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target_angular_velocity,
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(ANG_VEL_STEP_SIZE / 2.0))
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twist.angular.x = 0.0
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twist.angular.y = 0.0
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twist.angular.z = control_angular_velocity
-
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pub.publish(twist)
-
-
except Exception as e:
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print(e)
-
-
finally:
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twist = Twist()
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twist.linear.x = 0.0
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twist.linear.y = 0.0
-
twist.linear.z = 0.0
-
-
twist.angular.x = 0.0
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twist.angular.y = 0.0
-
twist.angular.z = 0.0
-
-
pub.publish(twist)
-
-
if os.name != 'nt':
-
termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
-
-
-
if __name__ == '__main__':
-
main()
简单加入中文方便使用：
阅读源码非常重要。
4 节点
5 主题
6 服务
ros2 service list -t
- /apply_joint_effort [gazebo_msgs/srv/ApplyJointEffort]
- /apply_link_wrench [gazebo_msgs/srv/ApplyLinkWrench]
- /clear_joint_efforts [gazebo_msgs/srv/JointRequest]
- /clear_link_wrenches [gazebo_msgs/srv/LinkRequest]
- /delete_entity [gazebo_msgs/srv/DeleteEntity]
- /gazebo/describe_parameters [rcl_interfaces/srv/DescribeParameters]
- /gazebo/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
- /gazebo/get_parameters [rcl_interfaces/srv/GetParameters]
- /gazebo/list_parameters [rcl_interfaces/srv/ListParameters]
- /gazebo/set_parameters [rcl_interfaces/srv/SetParameters]
- /gazebo/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
- /get_model_list [gazebo_msgs/srv/GetModelList]
- /pause_physics [std_srvs/srv/Empty]
- /reset_simulation [std_srvs/srv/Empty]
- /reset_world [std_srvs/srv/Empty]
- /robot_state_publisher/describe_parameters [rcl_interfaces/srv/DescribeParameters]
- /robot_state_publisher/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
- /robot_state_publisher/get_parameters [rcl_interfaces/srv/GetParameters]
- /robot_state_publisher/list_parameters [rcl_interfaces/srv/ListParameters]
- /robot_state_publisher/set_parameters [rcl_interfaces/srv/SetParameters]
- /robot_state_publisher/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
- /rqt_gui_py_node_4338/describe_parameters [rcl_interfaces/srv/DescribeParameters]
- /rqt_gui_py_node_4338/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
- /rqt_gui_py_node_4338/get_parameters [rcl_interfaces/srv/GetParameters]
- /rqt_gui_py_node_4338/list_parameters [rcl_interfaces/srv/ListParameters]
- /rqt_gui_py_node_4338/set_parameters [rcl_interfaces/srv/SetParameters]
- /rqt_gui_py_node_4338/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
- /spawn_entity [gazebo_msgs/srv/SpawnEntity]
- /teleop_keyboard/describe_parameters [rcl_interfaces/srv/DescribeParameters]
- /teleop_keyboard/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
- /teleop_keyboard/get_parameters [rcl_interfaces/srv/GetParameters]
- /teleop_keyboard/list_parameters [rcl_interfaces/srv/ListParameters]
- /teleop_keyboard/set_parameters [rcl_interfaces/srv/SetParameters]
- /teleop_keyboard/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
- /turtlebot3_diff_drive/describe_parameters [rcl_interfaces/srv/DescribeParameters]
- /turtlebot3_diff_drive/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
- /turtlebot3_diff_drive/get_parameters [rcl_interfaces/srv/GetParameters]
- /turtlebot3_diff_drive/list_parameters [rcl_interfaces/srv/ListParameters]
- /turtlebot3_diff_drive/set_parameters [rcl_interfaces/srv/SetParameters]
- /turtlebot3_diff_drive/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
- /turtlebot3_imu/describe_parameters [rcl_interfaces/srv/DescribeParameters]
- /turtlebot3_imu/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
- /turtlebot3_imu/get_parameters [rcl_interfaces/srv/GetParameters]
- /turtlebot3_imu/list_parameters [rcl_interfaces/srv/ListParameters]
- /turtlebot3_imu/set_parameters [rcl_interfaces/srv/SetParameters]
- /turtlebot3_imu/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
- /turtlebot3_joint_state/describe_parameters [rcl_interfaces/srv/DescribeParameters]
- /turtlebot3_joint_state/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
- /turtlebot3_joint_state/get_parameters [rcl_interfaces/srv/GetParameters]
- /turtlebot3_joint_state/list_parameters [rcl_interfaces/srv/ListParameters]
- /turtlebot3_joint_state/set_parameters [rcl_interfaces/srv/SetParameters]
- /turtlebot3_joint_state/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
- /turtlebot3_laserscan/describe_parameters [rcl_interfaces/srv/DescribeParameters]
- /turtlebot3_laserscan/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
- /turtlebot3_laserscan/get_parameters [rcl_interfaces/srv/GetParameters]
- /turtlebot3_laserscan/list_parameters [rcl_interfaces/srv/ListParameters]
- /turtlebot3_laserscan/set_parameters [rcl_interfaces/srv/SetParameters]
- /turtlebot3_laserscan/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
- /unpause_physics [std_srvs/srv/Empty]
7 行动
SLAM和导航时候再补充。
8 更多
可参考前13篇中对应案例，在此三维环境中进行实践哦。
总结
由二维环境到三维环境，仿真更炫酷，但是原理和指令几乎一样，学一招全掌控！
文章来源: zhangrelay.blog.csdn.net，作者：zhangrelay，版权归原作者所有，如需转载，请联系作者。
原文链接：zhangrelay.blog.csdn.net/article/details/117570035
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