gazebo初体验

跟视频学习《70分钟快速入门Gazebo机器人仿真》记录

视频网址：https://www.bilibili.com/video/BV143411C75B?p=2

选择这个视频的主要目的是，想了解一下gazebo仿真的流程。建立好的机器人如何在gazebo中展现，运行，仿真。此视频有写好的项目代码（本人不会代码）。

一、了解gazebo，搭建所需环境

安装虚拟机：win10下使用VirtualBox虚拟机安装Ubuntu_nownow_的博客-CSDN博客

安装ROS：ROS安装过程_nownow_的博客-CSDN博客

关于此项目

1、创建工作区 catkin_ws
cd catkin_ws/src/bingda_tutorials/
git reset --hard  撤销本地所有修改

2、下载机器人代码

git clone https://gitee.com/bingda-robot/bingda_tutorials

(cd ..回到catkin_ws文件夹下)

3、编译功能包： catkin_make --pkg bingda_tutorials

4、添加依赖
sudo apt install ros-$ROS_DISTRO-gazebo-ros ros-$ROS_DISTRO-gazebo-ros-control ros-$ROS_DISTRO-gazebo-plugins  ros-$ROS_DISTRO-joint-state-publisher ros-$ROS_DISTRO-joint-state-publisher-gui ros-$ROS_DISTRO-robot-state-publisher 

二、虚拟机环境检查——在显示中3D关闭，否则运行超慢

gazebo 点住左键移动视角移动    右键移动缩放   中间旋转视角

打开 gazebo。
添加环境模型   insert
ctrl+H 切换隐藏目录显示

环境设置-场景模型 -添加以及制作

三、urdf和机器人模型
roscd bingda_tutorials/urdf/
check_urdf mybot.urdf

roslaunch bingda_tutorials display_robot.launch
roslaunch bingda_tutorials gazebo_robot.launch

四、添加传感器和执行器-xacro
仿真和模型 最好分开，有助于复用
roslaunch bingda_tutorials simulation_robot.launch

新终端打开
rostopic list 查看话题

rqt_image_view

新终端打开 键盘控制
rosrun teleop_twist_keyboard teleop_twist_keyboard.py

rivz

五、SLAM建图和导航
roslaunch bingda_tutorials simulation_robot.launch

roslaunch robot_navigation gmapping.launch simulation:=true
roslaunch robot_navigation slam_rviz.launch

保存地图
路径 roscd robot_navigation/maps
rosrun map_server map saver -f map

六、Solidworks创建urdf

SW转换urdf_nownow_的博客-CSDN博客

其中遇到 的问题

1、rot@rot-VirtualBox:~$ cd catkin_ws
rot@rot-VirtualBox:~/catkin_ws$ roslaunch robot_navigation gmapping.launch simulation:=true
RLException: [gmapping.launch] is neither a launch file in package [robot_navigation] nor is [robot_navigation] a launch file name
The traceback for the exception was written to the log file

解决办法：
rot@rot-VirtualBox:~/catkin_ws$ source devel/setup.bash
rot@rot-VirtualBox:~/catkin_ws$ roslaunch robot_navigation gmapping.launch simulation:=true
... logging to /home/rot/.ros/log/e32fb77e-4443-11ec-b818-080027175752/roslaunch-rot-VirtualBox-2147.log

 还有一种可能是没有创建package，添加依赖， 而是直接将项目复制过来，解决办法：点击该项目，右键创建package，之后添加依赖

2、执行此句 $roslaunch robot_navigation gmapping.launch simulation:=true
报错：NODES
  /
    gmapping (gmapping/slam_gmapping)

ROS_MASTER_URI=http://localhost:11311

ERROR: cannot launch node of type [gmapping/slam_gmapping]: gmapping
ROS path [0]=/opt/ros/melodic/share/ros
ROS path [1]=/home/rot/catkin_ws/src
ROS path [2]=/opt/ros/melodic/share
No processes to monitor
shutting down processing monitor...
... shutting down processing monitor complete
解决方案  : sudo apt install ros-melodic-gmapping
 

3、rot@rot-VirtualBox:~$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py
[rospack] Error: package 'teleop_twist_keyboard' not found

解决1：source /home/rot/catkin_ws/devel/setup.bash   没解决
解决2：安装：sudo apt-get install ros-melodic-teleop-twist-keyboard 解决

安装：http://wiki.ros.org/teleop_twist_keyboard

4、rot@rot-VirtualBox:~$ roscd bingda_tutorials/urdf/
roscd: No such package/stack 'bingda_tutorials/urdf/'

解决：
rot@rot-VirtualBox:~$ cd catkin_ws
rot@rot-VirtualBox:~/catkin_ws$ source devel/setup.bash
rot@rot-VirtualBox:~/catkin_ws$ roscd bingda_tutorials/urdf/
rot@rot-VirtualBox:~/catkin_ws/src/bingda_tutorials/urdf$ 
cd ..回到上一级目录