仿真截图
rqtgraph
ROS Control教程官方
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/MYROBOT</robotNamespace>
</plugin>
</gazebo><gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/MYROBOT</robotNamespace>
<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType><!-- gazebo_ros_control/DefaultRobotHWSim 可以改成自定义的子类 -->
</plugin>
</gazebo><?xml version="1.0"?>
<robot>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/zzz_arm</robotNamespace>
<!--<robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
使用默认配置手臂轨迹会执行,但抓手抓取会失败
-->
<robotSimType>rosbook_arm_hardware_gazebo/ROSBookArmHardwareGazebo</robotSimType>
<!--使用一个教程中的自定义插件后抓取放置执行成功,源码见下-->
<controlPeriod>0.001</controlPeriod>
</plugin>
</gazebo>
</robot>attaching world object 'coke_can' to link 'grasping_frame'
attached object 'coke_can' to link 'grasping_frame'
Found successful manipution plan!
warn controller handle zzz_arm/fakegazebo_grapper_controller reports status RUNNING
pick up goal failed :Solution found but controller failed during execution.<robot xmlns:xacro="http://ros.org/wiki/xacro">
<xacro:macro name="arm_simple_transmission" params="name reduction">
<transmission name="${name}_transmission">
<type>transmission_interface/SimpleTransmission</type>
<actuator name="${name}_motor">
<mechanicalReduction>${reduction}</mechanicalReduction>
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</actuator>
<joint name="${name}_joint">
<hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
</joint>
</transmission>
</xacro:macro>
</robot>zzz_arm:
fakegazebo_arm_controller:
type: position_controllers/JointTrajectoryController
joints:
- shoulder_zhuan_joint
- upper_arm_joint
- fore_arm_joint
- hand_wan_joint
- hand_zhuan_joint
constraints:
goal_time: &goal_time_constraint 10.0
shoulder_zhuan_joint:
goal: &goal_pos_constraint 0.5
upper_arm_joint:
goal: *goal_pos_constraint
fore_arm_joint:
goal: *goal_pos_constraint
hand_wan_joint:
goal: *goal_pos_constraint
hand_zhuan_joint:
goal: *goal_pos_constraint
gains:
shoulder_zhuan_joint: {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
upper_arm_joint: {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
fore_arm_joint: {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
hand_wan_joint: {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
hand_zhuan_joint: {p: 1000.0, i: 0.0, d: 0.1, i_clamp: 0.0}
fakegazebo_grapper_controller:
type: position_controllers/JointTrajectoryController
joints:
- finger_1_joint
- finger_2_joint
constraints:
goal_time: *goal_time_constraint
finger_1_joint:
goal: *goal_pos_constraint
finger_2_joint:
goal: *goal_pos_constraint
gains:
finger_1_joint: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0}
finger_2_joint: {p: 50.0, d: 1.0, i: 0.01, i_clamp: 1.0}
# Publish all joint states -----------------------------------
joint_state_controller:
type: joint_state_controller/JointStateController
publish_rate: 50controller_manager_ns: controller_manager
controller_list:
- name: zzz_arm/fakegazebo_arm_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- shoulder_zhuan_joint
- upper_arm_joint
- fore_arm_joint
- hand_wan_joint
- hand_zhuan_joint
- name: zzz_arm/fakegazebo_grapper_controller
action_ns: follow_joint_trajectory
type: FollowJointTrajectory
default: true
joints:
- finger_1_joint
- finger_2_joint#include <angles/angles.h>
#include <urdf_parser/urdf_parser.h>
#include <joint_limits_interface/joint_limits_urdf.h>
#include <joint_limits_interface/joint_limits_rosparam.h>
#include <pluginlib/class_list_macros.h>
#include <rosbook_arm_hardware_gazebo/rosbook_arm_hardware_gazebo.h>
namespace rosbook_arm_hardware_gazebo
{
using namespace hardware_interface;
ROSBookArmHardwareGazebo::ROSBookArmHardwareGazebo()
: gazebo_ros_control::RobotHWSim()
{}
bool ROSBookArmHardwareGazebo::initSim(const std::string& robot_namespace,
ros::NodeHandle nh,
gazebo::physics::ModelPtr model,
const urdf::Model* const urdf_model,
std::vector<transmission_interface::TransmissionInfo> transmissions)
{
using gazebo::physics::JointPtr;
// Cleanup
sim_joints_.clear();
jnt_pos_.clear();
jnt_vel_.clear();
jnt_eff_.clear();
jnt_pos_cmd_.clear();
// Simulation joints
sim_joints_ = model->GetJoints();
n_dof_ = sim_joints_.size();
std::vector<std::string> jnt_names;
for (size_t i = 0; i < n_dof_; ++i)
{
jnt_names.push_back(sim_joints_[i]->GetName());
}
// Raw data
jnt_pos_.resize(n_dof_);
jnt_vel_.resize(n_dof_);
jnt_eff_.resize(n_dof_);
jnt_pos_cmd_.resize(n_dof_);
// Hardware interfaces
for (size_t i = 0; i < n_dof_; ++i)
{
jnt_state_interface_.registerHandle(
JointStateHandle(jnt_names[i], &jnt_pos_[i], &jnt_vel_[i], &jnt_eff_[i]));
jnt_pos_cmd_interface_.registerHandle(
JointHandle(jnt_state_interface_.getHandle(jnt_names[i]), &jnt_pos_cmd_[i]));
ROS_DEBUG_STREAM("Registered joint '" << jnt_names[i] << "' in the PositionJointInterface.");
}
registerInterface(&jnt_state_interface_);
registerInterface(&jnt_pos_cmd_interface_);
// Position joint limits interface
std::vector<std::string> cmd_handle_names = jnt_pos_cmd_interface_.getNames();
for (size_t i = 0; i < n_dof_; ++i)
{
const std::string name = cmd_handle_names[i];
JointHandle cmd_handle = jnt_pos_cmd_interface_.getHandle(name);
using namespace joint_limits_interface;
boost::shared_ptr<const urdf::Joint> urdf_joint = urdf_model->getJoint(name);
JointLimits limits;
SoftJointLimits soft_limits;
if (!getJointLimits(urdf_joint, limits) || !getSoftJointLimits(urdf_joint, soft_limits))
{
ROS_WARN_STREAM("Joint limits won't be enforced for joint '" << name << "'.");
}
else
{
jnt_limits_interface_.registerHandle(
PositionJointSoftLimitsHandle(cmd_handle, limits, soft_limits));
ROS_DEBUG_STREAM("Joint limits will be enforced for joint '" << name << "'.");
}
}
// PID controllers
pids_.resize(n_dof_);
for (size_t i = 0; i < n_dof_; ++i)
{
ros::NodeHandle joint_nh(nh, "gains/" + jnt_names[i]);
if (!pids_[i].init(joint_nh))
{
return false;
}
}
return true;
}
void ROSBookArmHardwareGazebo::readSim(ros::Time time, ros::Duration period)
{
for (size_t i = 0; i < n_dof_; ++i)
{
jnt_pos_[i] += angles::shortest_angular_distance
(jnt_pos_[i], sim_joints_[i]->GetAngle(0u).Radian());
jnt_vel_[i] = sim_joints_[i]->GetVelocity(0u);
jnt_eff_[i] = sim_joints_[i]->GetForce(0u);
}
}
void ROSBookArmHardwareGazebo::writeSim(ros::Time time, ros::Duration period)
{
// Enforce joint limits
jnt_limits_interface_.enforceLimits(period);
// Compute and send commands
for (size_t i = 0; i < n_dof_; ++i)
{
const double error = jnt_pos_cmd_[i] - jnt_pos_[i];
const double effort = pids_[i].computeCommand(error, period);
sim_joints_[i]->SetForce(0u, effort);
}
}
} // namespace rosbook_hardware_gazebo
PLUGINLIB_EXPORT_CLASS(rosbook_arm_hardware_gazebo::ROSBookArmHardwareGazebo, gazebo_ros_control::RobotHWSim)gazebo仿真抓取时,抓不起来或者很容易滑落的问题.
如图夹住的物体不断下滑甚至掉落.
官方 小车轮子对地摩擦的一个例子
http://wiki.ros.org/urdf/Tutorials/Using%20a%20URDF%20in%20Gazebo
<gazebo reference="${prefix}_${suffix}_wheel">
<mu1 value="200.0"/>
<mu2 value="100.0"/>
<kp value="10000000.0" />
<kd value="1.0" />
<material>Gazebo/Grey</material>
</gazebo><gazebo> Elements For LinksList of elements that are individually parsed:
| Name | Type | Description |
|---|---|---|
| material | value | Material of visual element |
| gravity | bool | Use gravity |
| dampingFactor | double | Exponential velocity decay of the link velocity - takes the value and multiplies the previous link velocity by (1-dampingFactor). |
| maxVel | double | maximum contact correction velocity truncation term. |
| minDepth | double | minimum allowable depth before contact correction impulse is applied |
| mu1 | double | Friction coefficients μ for the principal contact directions along the contact surface as defined by theOpen Dynamics Engine (ODE) (see parameter descriptions inODE's user guide) |
| mu2 | ||
| fdir1 | string | 3-tuple specifying direction of mu1 in the collision local reference frame. |
| kp | double | Contact stiffness k_p and damping k_d for rigid body contacts as defined by ODE (ODE uses erp and cfm but there is amapping between erp/cfm and stiffness/damping) |
| kd | ||
| selfCollide | bool | If true, the link can collide with other links in the model. |
| maxContacts | int | Maximum number of contacts allowed between two entities. This value overrides the max_contacts element defined in physics. |
| laserRetro | double | intensity value returned by laser sensor. |
Similar to <gazebo> elements for <robot>, any arbitrary blobs that are not parsed according to the table above are inserted into the the corresponding<link> element in the SDF. This is particularly useful for plugins, as discussed in theROS Motor and Sensor Plugins tutorial.
<gazebo reference="finger_1_link">
<mu1>2000.0</mu1>
<mu2>1000.0</mu2>
<kp>10000000.0</kp>
<kd>1.0</kd>
</gazebo>
<gazebo reference="finger_2_link">
<mu1>2000.0</mu1>
<mu2>1000.0</mu2>
<kp>10000000.0</kp>
<kd>1.0</kd>
</gazebo>grasp.world
<?xml version='1.0' ?>
<sdf version='1.4'>
<world name='empty'>
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!-- A ground plane -->
<include>
<uri>model://ground_plane</uri>
</include>
<!--
<include>
<uri>model://file:///home/myrobot1/src/zzz_arm_2_gazebo/model/beer/model.sdf</uri>
</include>
-->
<!-- Physics settings for simulation -->
<physics type='ode'>
<max_step_size>0.001</max_step_size>
<real_time_factor>1</real_time_factor>
<real_time_update_rate>1000</real_time_update_rate>
<gravity>0 0 -9.81</gravity>
</physics>
<model name='coke_can_box_model'>
<pose frame=''>0.175 0.0 0.2165 0 0 0</pose>
<link name='coke_can'>
<inertial>
<mass>0.001</mass>
<inertia>
<ixx>0.00016</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.00016</iyy>
<iyz>0</iyz>
<izz>0.00006</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<!--cylinder>
<radius>0.0075</radius>
<length>.05</length>
</cylinder-->
<!--box>
<size>0.015 0.015 0.05</size>
</box-->
<mesh>
<uri>model://coke_can/meshes/coke_can.dae</uri>
<scale>0.095 0.095 0.18</scale>
</mesh>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<friction>
<ode>
<mu>100.0</mu>
<mu2>100.0</mu2>
</ode>
</friction>
<contact>
<ode>
<kp>10000000.0</kp>
<kd>1.0</kd>
<min_depth>0.001</min_depth>
<max_vel>0.1</max_vel>
</ode>
</contact>
</surface>
</collision>
<visual name='visual'>
<geometry>
<!--cylinder>
<radius>0.0075</radius>
<length>.05</length>
</cylinder-->
<!--box>
<size>0.015 0.015 0.05</size>
</box-->
<mesh>
<uri>model://coke_can/meshes/coke_can.dae</uri>
<scale>0.095 0.095 0.18</scale>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Green</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
</model>
<model name='table_box_model'>
<static>true</static>
<pose frame=''>0.15 0.0 0.1 0 -0 1.5707963265</pose>
<link name='table_box_link'>
<inertial>
<mass>1</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>0.15 0.08 0.2</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<ode>
<mu>0.6</mu>
<mu2>0.6</mu2>
</ode>
<torsional>
<ode/>
</torsional>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<box>
<size>0.15 0.08 0.2</size>
</box>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
</model>
</world>
</sdf>gazebo 仿真尝试抓取圆柱体,立方体,和mesh可乐罐
经测试,在同样的设置下圆柱最容易滑落,立方体次之.可乐罐最不容易掉落.
gazebo与ros_control学习 (1)
<ROS> Gazebo Ros Control 及 Controller运用
http://blog.csdn.net/sunbibei/article/details/53665876
学习机械臂的一些文章
http://www.360doc.com/content/16/0825/16/7821691_585865831.shtml
Gazebo与ros_control（1）：让模型动起来
http://blog.csdn.net/yaked/article/details/51412781
Gazebo与ros_control（2）：七自由度机械臂和两轮差速运动小车
http://blog.csdn.net/yaked/article/details/51417742
Gazebo与ros_control（3）：Moveit输出规划轨迹到Gazebo
http://blog.csdn.net/yaked/article/details/51436262
Gazebo与ros_control（4）：举一反三，实战youBot
http://blog.csdn.net/yaked/article/details/51483531