前面已经使用urdf文件搭建小车模型,并在rviz下进行显示,今天用更容易维护的xacro文件来搭建

1. 新建xacro模型文件

• 在之前已经创建完毕的smartcar功能包下建立xacro文件夹存放模型文件

cd smartcat
mkdir xacro
cd xacro
touch car01.xacro

• 在car01.xacro文件填入以下内容

<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="test_robot">
  <xacro:property name="body_size" value=".2 .3 .1" />
  <xacro:property name="body_pos" value="0 0 0.05" />
  <xacro:property name="wheel_radius" value="0.05" />
  <xacro:property name="wheel_length" value="0.05" />
  <xacro:property name="wheel1_pos" value="0.1 0.1 0" />
  <xacro:property name="wheel2_pos" value="-0.1 0.1 0" />
  <xacro:property name="wheel3_pos" value="0.1 -0.1 0" />
  <xacro:property name="wheel4_pos" value="-0.1 -0.1 0" />
  
  <xacro:macro name="wheel" params="wheelname position">
    <link name="${wheelname}">
      <visual>
        <geometry>
          <cylinder length="${wheel_length}" radius="${wheel_radius}"/>
        </geometry>
        <origin rpy="0 1.5 0" xyz="${position}"/>
        <material name="black">
          <color rgba="0 0 0 1"/>
        </material>
      </visual>
    </link>
 
    <joint name="joint_base_${wheelname}" type="fixed">
      <parent link="base_link"/>
      <child link="${wheelname}"/>
    </joint>
  </xacro:macro>
  <xacro:wheel wheelname="wheel1" position="${wheel1_pos}"/>
  <xacro:wheel wheelname="wheel2" position="${wheel2_pos}"/>
  <xacro:wheel wheelname="wheel3" position="${wheel3_pos}"/>
  <xacro:wheel wheelname="wheel4" position="${wheel4_pos}"/>
 
  <link name="base_link">
    <visual>
       <geometry>
         <box size="${body_size}"/>
       </geometry>
       <origin rpy="0 0 0" xyz="${body_pos}"/>
       <material name="white">
         <color rgba="1 1 1 1"/>
       </material>
    </visual>
  </link>
</robot>

2. 创建对应launch文件

cd smartcar/launch
touch car01_xacro.launch

• 在car01.xacro文件填入以下内容 (rviz配置文件)

<!-- -->

<launch>
    <param name="robot_description" command="$(find xacro)/xacro --inorder $(find little_car)/xacro/car01.xacro" />
    <!-- 运行robot_state_publisher节点，发布tf坐标系变换  -->
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher" />
    <!-- 运行rviz可视化界面 -->
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find little_car)/rviz/car01.rviz" respawn="false" output="screen"/>
</launch>

3. 终端启动

roslaunch smartcar car01_xacro.launch

完成