下面总结 如何在gazebo进行 joint的转动控制

xacro文件

设置两个link

    <link name="rotate_link">
        <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry >
            <box size="${size_rotate_link_x} ${size_rotate_link_y} ${size_rotate_link_z}" />
        </geometry>
            <material name="LightGray" /> 
        </visual>
        <collision>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry >
            <box size="${size_rotate_link_x} ${size_rotate_link_y} ${size_rotate_link_z}" />
        </geometry>
        </collision>   
        <inertial>
            <mass value="${massGain*1}"/>
            <inertia ixx="${massGain*1}" ixy="0.0" ixz="0.0" iyy="${massGain*1}" iyz="0.0" izz="${massGain*1}"/>
        </inertial> 
    </link>

    <gazebo reference="rotate_link">
        <material>Gazebo/Grey</material>
        <turnGravityOff>true</turnGravityOff>
    </gazebo>

    <link name="rotate_platform_base_link">
        <visual>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry >
            <box size="${size_rotate_platform_base_link_x} ${size_rotate_platform_base_link_y} ${size_rotate_platform_base_link_z}" />
        </geometry>
            <material name="LightGray" /> 
        </visual>
        <collision>
        <origin xyz="0 0 0" rpy="0 0 0" />
        <geometry >
            <box size="${size_rotate_platform_base_link_x} ${size_rotate_platform_base_link_y} ${size_rotate_platform_base_link_z}" />
        </geometry>
        </collision>   
        <inertial>
            <mass value="${massGain*1}"/>
            <inertia ixx="${massGain*1}" ixy="0.0" ixz="0.0" iyy="${massGain*1}" iyz="0.0" izz="${massGain*1}"/>
        </inertial> 
    </link>

    <gazebo reference="rotate_platform_base_link">
        <material>Gazebo/Black</material>
        <turnGravityOff>true</turnGravityOff>
    </gazebo>
    </xacro:macro>

两个基本的link
设置完后,设置 joint

设置joint

    <joint name="rotate_joint" type="continuous">
        <parent link="rotate_platform_base_link"/>
        <child link="rotate_link"/>
        <origin xyz="0.075 0 0.225" rpy="0 0 0" />
        <axis xyz="1 0 0" />
        <limit effort="10" velocity="1000" />
    </joint>

• continuous 进行速度控制 一直转
• revolute 进行位置控制 有上下限

设置transmission

    <transmission name="rotate_joint_transmission">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="rotate_joint">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
    </transmission>

设置 gazebo

    <gazebo>
      <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
        <robotNamespace>/rotate_platform</robotNamespace>
        <controlPeriod>0.01</controlPeriod>
        <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      </plugin>
    </gazebo>

xacro设置完毕

配置yaml文件

rotate_platform:
  joint_state_controller:
    type: joint_state_controller/JointStateController
    publish_rate: 50  
  rotate_velocity_controller:
    type: effort_controllers/JointVelocityController
    joint: rotate_joint
    pid: {p: 1, i: 0.0, d: 0.0, i_clamp: 0.0}

joint的名字要和上面对应

配置launch文件

    <rosparam file="$(find slam_sensor_sim_gazebo)/config/rotate_control.yaml" command="load"/>

    <node name="controller_manager" pkg="controller_manager" type="spawner" respawn="false"
        output="screen" ns="/rotate_platform" args="joint_state_controller rotate_velocity_controller --shutdown-timeout 3"/>