ROS_Kinetic_29 kamtoa simulation学习与示例分析（一）

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致谢源代码网址：https://github.com/Tutorgaming/kamtoa-simulation

kamtoa simulation学习与示例分析（一）





源码学习与分析是学习ROS，包括RVIZ和Gazebo等必须的过程，大量代码的阅读能够提高加快理解熟练使用ROS Kinetic。

首先，先看文件组织：


一般README中有详细的使用说明，包括安装，使用和示例教程。

CMakeLists.txt：

  1. # toplevel CMakeLists.txt for a catkin workspace
  2. # catkin/cmake/toplevel.cmake
  3.  
  4. cmake_minimum_required(VERSION 2.8.3)
  5.  
  6. set(CATKIN_TOPLEVEL TRUE)
  7.  
  8. # search for catkin within the workspace
  9. set(_cmd "catkin_find_pkg" "catkin" "${CMAKE_SOURCE_DIR}")
  10. execute_process(COMMAND ${_cmd}
  11.   RESULT_VARIABLE _res
  12.   OUTPUT_VARIABLE _out
  13.   ERROR_VARIABLE _err
  14.   OUTPUT_STRIP_TRAILING_WHITESPACE
  15.   ERROR_STRIP_TRAILING_WHITESPACE
  16. )
  17. if(NOT _res EQUAL 0 AND NOT _res EQUAL 2)
  18.   # searching fot catkin resulted in an error
  19.   string(REPLACE ";" " " _cmd_str "${_cmd}")
  20.   message(FATAL_ERROR "Search for 'catkin' in workspace Failed (${_cmd_str}): ${_err}")
  21. endif()
  22.  
  23. # include catkin from workspace or via find_package()
  24. if(_res EQUAL 0)
  25.   set(catkin_EXTRAS_DIR "${CMAKE_SOURCE_DIR}/${_out}/cmake")
  26.   # include all.cmake without add_subdirectory to let it operate in same scope
  27.   include(${catkin_EXTRAS_DIR}/all.cmake NO_POLICY_SCOPE)
  28.   add_subdirectory("${_out}")
  29.  
  30. else()
  31.   # use either CMAKE_PREFIX_PATH explicitly passed to CMake as a command line argument
  32.   # or CMAKE_PREFIX_PATH from the environment
  33.   if(NOT DEFINED CMAKE_PREFIX_PATH)
  34.     if(NOT "$ENV{CMAKE_PREFIX_PATH}" STREQUAL "")
  35.       string(REPLACE ":" ";" CMAKE_PREFIX_PATH $ENV{CMAKE_PREFIX_PATH})
  36.     endif()
  37.   endif()
  38.  
  39.   # list of catkin workspaces
  40.   set(catkin_search_path "")
  41.   foreach(path ${CMAKE_PREFIX_PATH})
  42.     if(EXISTS "${path}/.catkin")
  43.       list(FIND catkin_search_path ${path} _index)
  44.       if(_index EQUAL -1)
  45.         list(APPEND catkin_search_path ${path})
  46.       endif()
  47.     endif()
  48.   endforeach()
  49.  
  50.   # search for catkin in all workspaces
  51.   set(CATKIN_TOPLEVEL_FIND_PACKAGE TRUE)
  52.   find_package(catkin QUIET
  53.     NO_POLICY_SCOPE
  54.     PATHS ${catkin_search_path}
  55.     NO_DEFAULT_PATH NO_CMAKE_FIND_ROOT_PATH)
  56.   unset(CATKIN_TOPLEVEL_FIND_PACKAGE)
  57.  
  58.   if(NOT catkin_FOUND)
  59.     message(FATAL_ERROR "find_package(catkin) Failed. catkin was neither found in the workspace nor in the CMAKE_PREFIX_PATH. One reason may be that no ROS setup.sh was sourced before.")
  60.   endif()
  61. endif()
  62.  
  63. catkin_workspace()

这里，先看kamtoa_gazebo文件夹下：


CMakeLists.txt中包含需要的功能包，如下截取部分代码片段：

  1. cmake_minimum_required(VERSION 2.8.3)
  2. project(kamtoa_gazebo)
  3.  
  4. ## Find catkin macros and libraries
  5. ## if COMPONENTS list like find_package(catkin required COMPONENTS xyz)
  6. ## is used,also find other catkin packages
  7. find_package(catkin required COMPONENTS
  8.   gazebo_msgs
  9.   gazebo_plugins
  10.   gazebo_ros
  11.   gazebo_ros_control
  12.   kamtoa_description
  13. )
  14.  
  15. ## System dependencies are found with CMake's conventions
  16. # find_package(Boost required COMPONENTS system)
  17.  
需要的功能包如果不全，可以使用sudo apt-get install ros-kinetic-gazebo-msgs，以类似方式安装（catkin）。当然编译需要对应的功能包，运行也需要，这里缺一不可，请看package.xml： 

  1. <?xml version="1.0"?>
  2. <package>
  3.   <name>kamtoa_gazebo</name>
  4.   <version>0.0.0</version>
  5.   <description>The kamtoa_gazebo package</description>
  6.  
  7.   <!-- One maintainer tag required,multiple allowed,one person per tag --> 
  8.   <!-- Example:  -->
  9.   <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
  10.   <maintainer email="c3mx@todo.todo">c3mx</maintainer>
  11.  
  12.  
  13.   <!-- One license tag required,one license per tag -->
  14.   <!-- Commonly used license strings: -->
  15.   <!--   BSD,MIT,Boost Software License,GPLv2,GPLv3,LGPLv2.1,LGPLv3 -->
  16.   <license>TODO</license>
  17.  
  18.  
  19.   <!-- Url tags are optional,but mutiple are allowed,one per tag -->
  20.   <!-- Optional attribute type can be: website,bugtracker,or repository -->
  21.   <!-- Example: -->
  22.   <!-- <url type="website">http://wiki.ros.org/kamtoa_gazebo</url> -->
  23.  
  24.  
  25.   <!-- Author tags are optional,mutiple are allowed,one per tag -->
  26.   <!-- Authors do not have to be maintianers,but could be -->
  27.   <!-- Example: -->
  28.   <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
  29.  
  30.  
  31.   <!-- The *_depend tags are used to specify dependencies -->
  32.   <!-- Dependencies can be catkin packages or system dependencies -->
  33.   <!-- Examples: -->
  34.   <!-- Use build_depend for packages you need at compile time: -->
  35.   <!--   <build_depend>message_generation</build_depend> -->
  36.   <!-- Use buildtool_depend for build tool packages: -->
  37.   <!--   <buildtool_depend>catkin</buildtool_depend> -->
  38.   <!-- Use run_depend for packages you need at runtime: -->
  39.   <!--   <run_depend>message_runtime</run_depend> -->
  40.   <!-- Use test_depend for packages you need only for testing: -->
  41.   <!--   <test_depend>gtest</test_depend> -->
  42.   <buildtool_depend>catkin</buildtool_depend>
  43.   <build_depend>gazebo_msgs</build_depend>
  44.   <build_depend>gazebo_plugins</build_depend>
  45.   <build_depend>gazebo_ros</build_depend>
  46.   <build_depend>gazebo_ros_control</build_depend>
  47.   <build_depend>kamtoa_description</build_depend>
  48.   <run_depend>gazebo_msgs</run_depend>
  49.   <run_depend>gazebo_plugins</run_depend>
  50.   <run_depend>gazebo_ros</run_depend>
  51.   <run_depend>gazebo_ros_control</run_depend>
  52.   <run_depend>kamtoa_description</run_depend>
  53.  
  54.  
  55.   <!-- The export tag contains other,unspecified,tags -->
  56.   <export>
  57.     <!-- Other tools can request additional information be placed here -->
  58.  
  59.   </export>
  60. </package>

注意这里的<build_depend>和<run_depend>，分别对应编译和运行， 有时编译没有问题，运行却报错，请务必注意。

world文件夹下存放gazebo模型，打开可以看到：


building1.world和whiz_ex.world，具体解析可以参考博客中GazeboSim中内容，具体的模型文件为sdf 1.6对应Gazebo7，以whiz_ex_window为例，分为model.config和model.sdf如下：

model.sdf：

  1. <?xml version='1.0'?>
  2. <sdf version='1.6'>
  3.   <model name='whiz_ex_window'>
  4.     <pose frame=''>0.232213 1.38881 0 0 -0 0</pose>
  5.     <link name='Door_6'>
  6.       <collision name='Door_6_Collision'>
  7.         <geometry>
  8.           <Box>
  9.             <size>0.9 0.17 2</size>
  10.           </Box>
  11.         </geometry>
  12.         <pose frame=''>0 0 1 0 -0 0</pose>
  13.       </collision>
  14.       <visual name='Door_6_Visual'>
  15.         <pose frame=''>0 0 1 0 -0 0</pose>
  16.         <geometry>
  17.           <Box>
  18.             <size>0.9 0.17 2</size>
  19.           </Box>
  20.         </geometry>
  21.         <material>
  22.           <script>
  23.             <uri>file://media/materials/scripts/gazebo.material</uri>
  24.             <name>Gazebo/Grey</name>
  25.           </script>
  26.         </material>
  27.       </visual>
  28.       <pose frame=''>0.29567 1.0429 0 0 0 -3.12055</pose>
  29.     </link>
  30.     <link name='Door_7'>
  31.       <collision name='Door_7_Collision'>
  32.         <geometry>
  33.           <Box>
  34.             <size>0.949838 0.2 2</size>
  35.           </Box>
  36.         </geometry>
  37.         <pose frame=''>0 0 1 0 -0 0</pose>
  38.       </collision>
  39.       <visual name='Door_7_Visual'>
  40.         <pose frame=''>0 0 1 0 -0 0</pose>
  41.         <geometry>
  42.           <Box>
  43.             <size>0.949838 0.2 2</size>
  44.           </Box>
  45.         </geometry>
  46.         <material>
  47.           <script>
  48.             <uri>file://media/materials/scripts/gazebo.material</uri>
  49.             <name>Gazebo/Grey</name>
  50.           </script>
  51.         </material>
  52.       </visual>
  53.       <pose frame=''>-0.776238 1.0429 0 0 -0 3.14159</pose>
  54.     </link>
  55.     <link name='Door_8'>
  56.       <collision name='Door_8_Collision'>
  57.         <geometry>
  58.           <Box>
  59.             <size>0.9 0.17 2</size>
  60.           </Box>
  61.         </geometry>
  62.         <pose frame=''>0 0 1 0 -0 0</pose>
  63.       </collision>
  64.       <visual name='Door_8_Visual'>
  65.         <pose frame=''>0 0 1 0 -0 0</pose>
  66.         <geometry>
  67.           <Box>
  68.             <size>0.9 0.17 2</size>
  69.           </Box>
  70.         </geometry>
  71.         <material>
  72.           <script>
  73.             <uri>file://media/materials/scripts/gazebo.material</uri>
  74.             <name>Gazebo/Grey</name>
  75.           </script>
  76.         </material>
  77.       </visual>
  78.       <pose frame=''>-4.14363 1.09228 0 0 -0 0</pose>
  79.     </link>
  80.     <link name='Door_9'>
  81.       <collision name='Door_9_Collision'>
  82.         <geometry>
  83.           <Box>
  84.             <size>0.9 0.17 2</size>
  85.           </Box>
  86.         </geometry>
  87.         <pose frame=''>0 0 1 0 -0 0</pose>
  88.       </collision>
  89.       <visual name='Door_9_Visual'>
  90.         <pose frame=''>0 0 1 0 -0 0</pose>
  91.         <geometry>
  92.           <Box>
  93.             <size>0.9 0.17 2</size>
  94.           </Box>
  95.         </geometry>
  96.         <material>
  97.           <script>
  98.             <uri>file://media/materials/scripts/gazebo.material</uri>
  99.             <name>Gazebo/Grey</name>
  100.           </script>
  101.         </material>
  102.       </visual>
  103.       <pose frame=''>-1.75347 -0.819856 0 0 0 -3.12358</pose>
  104.     </link>
  105.     <link name='Wall_0'>
  106.       <pose frame=''>-1.6817 -3.67821 0 0 -0 0</pose>
  107.       <visual name='Wall_0_Visual_0'>
  108.         <pose frame=''>-1.17971 0 1.25 0 -0 0</pose>
  109.         <geometry>
  110.           <Box>
  111.             <size>5.89059 0.15 2.5</size>
  112.           </Box>
  113.         </geometry>
  114.         <material>
  115.           <script>
  116.             <uri>file://media/materials/scripts/gazebo.material</uri>
  117.             <name>Gazebo/Grey</name>
  118.           </script>
  119.           <ambient>1 1 1 1</ambient>
  120.         </material>
  121.       </visual>
  122.       <collision name='Wall_0_Collision_0'>
  123.         <geometry>
  124.           <Box>
  125.             <size>5.89059 0.15 2.5</size>
  126.           </Box>
  127.         </geometry>
  128.         <pose frame=''>-1.17971 0 1.25 0 -0 0</pose>
  129.       </collision>
  130.       <visual name='Wall_0_Visual_1'>
  131.         <pose frame=''>3.9453 0 1.25 0 -0 0</pose>
  132.         <geometry>
  133.           <Box>
  134.             <size>0.35941 0.15 2.5</size>
  135.           </Box>
  136.         </geometry>
  137.         <material>
  138.           <script>
  139.             <uri>file://media/materials/scripts/gazebo.material</uri>
  140.             <name>Gazebo/Grey</name>
  141.           </script>
  142.           <ambient>1 1 1 1</ambient>
  143.         </material>
  144.       </visual>
  145.       <collision name='Wall_0_Collision_1'>
  146.         <geometry>
  147.           <Box>
  148.             <size>0.35941 0.15 2.5</size>
  149.           </Box>
  150.         </geometry>
  151.         <pose frame=''>3.9453 0 1.25 0 -0 0</pose>
  152.       </collision>
  153.       <visual name='Wall_0_Visual_2'>
  154.         <pose frame=''>2.76559 0 0 0 -0 0</pose>
  155.         <geometry>
  156.           <Box>
  157.             <size>2 0.15 0</size>
  158.           </Box>
  159.         </geometry>
  160.         <material>
  161.           <script>
  162.             <uri>file://media/materials/scripts/gazebo.material</uri>
  163.             <name>Gazebo/Grey</name>
  164.           </script>
  165.           <ambient>1 1 1 1</ambient>
  166.         </material>
  167.       </visual>
  168.       <collision name='Wall_0_Collision_2'>
  169.         <geometry>
  170.           <Box>
  171.             <size>2 0.15 0</size>
  172.           </Box>
  173.         </geometry>
  174.         <pose frame=''>2.76559 0 0 0 -0 0</pose>
  175.       </collision>
  176.       <visual name='Wall_0_Visual_3'>
  177.         <pose frame=''>2.76559 0 2.45 0 -0 0</pose>
  178.         <geometry>
  179.           <Box>
  180.             <size>2 0.15 0.1</size>
  181.           </Box>
  182.         </geometry>
  183.         <material>
  184.           <script>
  185.             <uri>file://media/materials/scripts/gazebo.material</uri>
  186.             <name>Gazebo/Grey</name>
  187.           </script>
  188.           <ambient>1 1 1 1</ambient>
  189.         </material>
  190.       </visual>
  191.       <collision name='Wall_0_Collision_3'>
  192.         <geometry>
  193.           <Box>
  194.             <size>2 0.15 0.1</size>
  195.           </Box>
  196.         </geometry>
  197.         <pose frame=''>2.76559 0 2.45 0 -0 0</pose>
  198.       </collision>
  199.     </link>
  200.     <link name='Wall_1'>
  201.       <collision name='Wall_1_Collision'>
  202.         <geometry>
  203.           <Box>
  204.             <size>3.75 0.15 2.5</size>
  205.           </Box>
  206.         </geometry>
  207.         <pose frame=''>0 0 1.25 0 -0 0</pose>
  208.       </collision>
  209.       <visual name='Wall_1_Visual'>
  210.         <pose frame=''>0 0 1.25 0 -0 0</pose>
  211.         <geometry>
  212.           <Box>
  213.             <size>3.75 0.15 2.5</size>
  214.           </Box>
  215.         </geometry>
  216.         <material>
  217.           <script>
  218.             <uri>file://media/materials/scripts/gazebo.material</uri>
  219.             <name>Gazebo/Grey</name>
  220.           </script>
  221.           <ambient>1 1 1 1</ambient>
  222.         </material>
  223.       </visual>
  224.       <pose frame=''>2.3683 -1.87821 0 0 -0 1.5708</pose>
  225.     </link>
  226.     <link name='Wall_13'>
  227.       <collision name='Wall_13_Collision'>
  228.         <geometry>
  229.           <Box>
  230.             <size>9.25 0.15 2.5</size>
  231.           </Box>
  232.         </geometry>
  233.         <pose frame=''>0 0 1.25 0 -0 0</pose>
  234.       </collision>
  235.       <visual name='Wall_13_Visual'>
  236.         <pose frame=''>0 0 1.25 0 -0 0</pose>
  237.         <geometry>
  238.           <Box>
  239.             <size>9.25 0.15 2.5</size>
  240.           </Box>
  241.         </geometry>
  242.         <material>
  243.           <script>
  244.             <uri>file://media/materials/scripts/gazebo.material</uri>
  245.             <name>Gazebo/Grey</name>
  246.           </script>
  247.           <ambient>1 1 1 1</ambient>
  248.         </material>
  249.       </visual>
  250.       <pose frame=''>-1.19255 3.74668 0 0 -0 3.14159</pose>
  251.     </link>
  252.     <link name='Wall_15'>
  253.       <pose frame=''>-4.65794 2.07148 0 0 0 -1.5708</pose>
  254.       <visual name='Wall_15_Visual_0'>
  255.         <pose frame=''>-1.67569 0 1.25 0 -0 0</pose>
  256.         <geometry>
  257.           <Box>
  258.             <size>0.148611 0.15 2.5</size>
  259.           </Box>
  260.         </geometry>
  261.         <material>
  262.           <script>
  263.             <uri>file://media/materials/scripts/gazebo.material</uri>
  264.             <name>Gazebo/Grey</name>
  265.           </script>
  266.           <ambient>1 1 1 1</ambient>
  267.         </material>
  268.       </visual>
  269.       <collision name='Wall_15_Collision_0'>
  270.         <geometry>
  271.           <Box>
  272.             <size>0.148611 0.15 2.5</size>
  273.           </Box>
  274.         </geometry>
  275.         <pose frame=''>-1.67569 0 1.25 0 -0 0</pose>
  276.       </collision>
  277.       <visual name='Wall_15_Visual_1'>
  278.         <pose frame=''>1.07431 0 1.25 0 -0 0</pose>
  279.         <geometry>
  280.           <Box>
  281.             <size>1.35139 0.15 2.5</size>
  282.           </Box>
  283.         </geometry>
  284.         <material>
  285.           <script>
  286.             <uri>file://media/materials/scripts/gazebo.material</uri>
  287.             <name>Gazebo/Grey</name>
  288.           </script>
  289.           <ambient>1 1 1 1</ambient>
  290.         </material>
  291.       </visual>
  292.       <collision name='Wall_15_Collision_1'>
  293.         <geometry>
  294.           <Box>
  295.             <size>1.35139 0.15 2.5</size>
  296.           </Box>
  297.         </geometry>
  298.         <pose frame=''>1.07431 0 1.25 0 -0 0</pose>
  299.       </collision>
  300.       <visual name='Wall_15_Visual_2'>
  301.         <pose frame=''>-0.601389 0 2.4 0 -0 0</pose>
  302.         <geometry>
  303.           <Box>
  304.             <size>2 0.15 0.2</size>
  305.           </Box>
  306.         </geometry>
  307.         <material>
  308.           <script>
  309.             <uri>file://media/materials/scripts/gazebo.material</uri>
  310.             <name>Gazebo/Grey</name>
  311.           </script>
  312.           <ambient>1 1 1 1</ambient>
  313.         </material>
  314.       </visual>
  315.       <collision name='Wall_15_Collision_2'>
  316.         <geometry>
  317.           <Box>
  318.             <size>2 0.15 0.2</size>
  319.           </Box>
  320.         </geometry>
  321.         <pose frame=''>-0.601389 0 2.4 0 -0 0</pose>
  322.       </collision>
  323.     </link>
  324.     <link name='Wall_16'>
  325.       <collision name='Wall_16_Collision'>
  326.         <geometry>
  327.           <Box>
  328.             <size>1.25 0.15 2.5</size>
  329.           </Box>
  330.         </geometry>
  331.         <pose frame=''>0 0 1.25 0 -0 0</pose>
  332.       </collision>
  333.       <visual name='Wall_16_Visual'>
  334.         <pose frame=''>0 0 1.25 0 -0 0</pose>
  335.         <geometry>
  336.           <Box>
  337.             <size>1.25 0.15 2.5</size>
  338.           </Box>
  339.         </geometry>
  340.         <material>
  341.           <script>
  342.             <uri>file://media/materials/scripts/gazebo.material</uri>
  343.             <name>Gazebo/Grey</name>
  344.           </script>
  345.           <ambient>1 1 1 1</ambient>
  346.         </material>
  347.       </visual>
  348.       <pose frame=''>-5.20794 0.396477 0 0 -0 3.14159</pose>
  349.     </link>
  350.     <link name='Wall_17'>
  351.       <pose frame=''>-5.75794 -1.65352 0 0 0 -1.5708</pose>
  352.       <visual name='Wall_17_Visual_0'>
  353.         <pose frame=''>-1.07794 0 1.25 0 -0 0</pose>
  354.         <geometry>
  355.           <Box>
  356.             <size>2.09412 0.15 2.5</size>
  357.           </Box>
  358.         </geometry>
  359.         <material>
  360.           <script>
  361.             <uri>file://media/materials/scripts/gazebo.material</uri>
  362.             <name>Gazebo/Grey</name>
  363.           </script>
  364.           <ambient>1 1 1 1</ambient>
  365.         </material>
  366.       </visual>
  367.       <collision name='Wall_17_Collision_0'>
  368.         <geometry>
  369.           <Box>
  370.             <size>2.09412 0.15 2.5</size>
  371.           </Box>
  372.         </geometry>
  373.         <pose frame=''>-1.07794 0 1.25 0 -0 0</pose>
  374.       </collision>
  375.       <visual name='Wall_17_Visual_1'>
  376.         <pose frame=''>1.04706 0 0.25 0 -0 0</pose>
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  948.           </Box>
  949.         </geometry>
  950.         <pose frame=''>-0.530284 0 1.25 0 -0 0</pose>
  951.       </collision>
  952.       <visual name='Wall_52_Visual_1'>
  953.         <pose frame=''>1.16972 0 1.25 0 -0 0</pose>
  954.         <geometry>
  955.           <Box>
  956.             <size>0.160568 0.15 2.5</size>
  957.           </Box>
  958.         </geometry>
  959.         <material>
  960.           <script>
  961.             <uri>file://media/materials/scripts/gazebo.material</uri>
  962.             <name>Gazebo/Grey</name>
  963.           </script>
  964.           <ambient>1 1 1 1</ambient>
  965.         </material>
  966.       </visual>
  967.       <collision name='Wall_52_Collision_1'>
  968.         <geometry>
  969.           <Box>
  970.             <size>0.160568 0.15 2.5</size>
  971.           </Box>
  972.         </geometry>
  973.         <pose frame=''>1.16972 0 1.25 0 -0 0</pose>
  974.       </collision>
  975.       <visual name='Wall_52_Visual_2'>
  976.         <pose frame=''>0.639432 0 2.25 0 -0 0</pose>
  977.         <geometry>
  978.           <Box>
  979.             <size>0.9 0.15 0.5</size>
  980.           </Box>
  981.         </geometry>
  982.         <material>
  983.           <script>
  984.             <uri>file://media/materials/scripts/gazebo.material</uri>
  985.             <name>Gazebo/Grey</name>
  986.           </script>
  987.           <ambient>1 1 1 1</ambient>
  988.         </material>
  989.       </visual>
  990.       <collision name='Wall_52_Collision_2'>
  991.         <geometry>
  992.           <Box>
  993.             <size>0.9 0.15 0.5</size>
  994.           </Box>
  995.         </geometry>
  996.         <pose frame=''>0.639432 0 2.25 0 -0 0</pose>
  997.       </collision>
  998.     </link>
  999.     <link name='Wall_53'>
  1000.       <collision name='Wall_53_Collision'>
  1001.         <geometry>
  1002.           <Box>
  1003.             <size>0.463251 0.15 2.5</size>
  1004.           </Box>
  1005.         </geometry>
  1006.         <pose frame=''>0 0 1.25 0 -0 0</pose>
  1007.       </collision>
  1008.       <visual name='Wall_53_Visual'>
  1009.         <pose frame=''>0 0 1.25 0 -0 0</pose>
  1010.         <geometry>
  1011.           <Box>
  1012.             <size>0.463251 0.15 2.5</size>
  1013.           </Box>
  1014.         </geometry>
  1015.         <material>
  1016.           <script>
  1017.             <uri>file://media/materials/scripts/gazebo.material</uri>
  1018.             <name>Gazebo/Grey</name>
  1019.           </script>
  1020.           <ambient>1 1 1 1</ambient>
  1021.         </material>
  1022.       </visual>
  1023.       <pose frame=''>3.38255 3.59207 0 0 -0 1.73174</pose>
  1024.     </link>
  1025.     <link name='Wall_55'>
  1026.       <pose frame=''>1.06733 -0.11797 0 0 -0 0.030549</pose>
  1027.       <visual name='Wall_55_Visual_0'>
  1028.         <pose frame=''>-1.28558 0 1.25 0 -0 0</pose>
  1029.         <geometry>
  1030.           <Box>
  1031.             <size>0.181978 0.15 2.5</size>
  1032.           </Box>
  1033.         </geometry>
  1034.         <material>
  1035.           <script>
  1036.             <uri>file://media/materials/scripts/gazebo.material</uri>
  1037.             <name>Gazebo/Grey</name>
  1038.           </script>
  1039.           <ambient>1 1 1 1</ambient>
  1040.         </material>
  1041.       </visual>
  1042.       <collision name='Wall_55_Collision_0'>
  1043.         <geometry>
  1044.           <Box>
  1045.             <size>0.181978 0.15 2.5</size>
  1046.           </Box>
  1047.         </geometry>
  1048.         <pose frame=''>-1.28558 0 1.25 0 -0 0</pose>
  1049.       </collision>
  1050.       <visual name='Wall_55_Visual_1'>
  1051.         <pose frame=''>0.540989 0 1.25 0 -0 0</pose>
  1052.         <geometry>
  1053.           <Box>
  1054.             <size>1.67116 0.15 2.5</size>
  1055.           </Box>
  1056.         </geometry>
  1057.         <material>
  1058.           <script>
  1059.             <uri>file://media/materials/scripts/gazebo.material</uri>
  1060.             <name>Gazebo/Grey</name>
  1061.           </script>
  1062.           <ambient>1 1 1 1</ambient>
  1063.         </material>
  1064.       </visual>
  1065.       <collision name='Wall_55_Collision_1'>
  1066.         <geometry>
  1067.           <Box>
  1068.             <size>1.67116 0.15 2.5</size>
  1069.           </Box>
  1070.         </geometry>
  1071.         <pose frame=''>0.540989 0 1.25 0 -0 0</pose>
  1072.       </collision>
  1073.       <visual name='Wall_55_Visual_2'>
  1074.         <pose frame=''>-0.744593 0 2.25 0 -0 0</pose>
  1075.         <geometry>
  1076.           <Box>
  1077.             <size>0.9 0.15 0.5</size>
  1078.           </Box>
  1079.         </geometry>
  1080.         <material>
  1081.           <script>
  1082.             <uri>file://media/materials/scripts/gazebo.material</uri>
  1083.             <name>Gazebo/Grey</name>
  1084.           </script>
  1085.           <ambient>1 1 1 1</ambient>
  1086.         </material>
  1087.       </visual>
  1088.       <collision name='Wall_55_Collision_2'>
  1089.         <geometry>
  1090.           <Box>
  1091.             <size>0.9 0.15 0.5</size>
  1092.           </Box>
  1093.         </geometry>
  1094.         <pose frame=''>-0.744593 0 2.25 0 -0 0</pose>
  1095.       </collision>
  1096.     </link>
  1097.     <link name='Wall_57'>
  1098.       <pose frame=''>-0.766361 -0.161298 0 0 -0 0.006708</pose>
  1099.       <visual name='Wall_57_Visual_0'>
  1100.         <pose frame=''>-0.534301 0 1.25 0 -0 0</pose>
  1101.         <geometry>
  1102.           <Box>
  1103.             <size>0.146885 0.15 2.5</size>
  1104.           </Box>
  1105.         </geometry>
  1106.         <material>
  1107.           <script>
  1108.             <uri>file://media/materials/scripts/gazebo.material</uri>
  1109.             <name>Gazebo/Grey</name>
  1110.           </script>
  1111.           <ambient>1 1 1 1</ambient>
  1112.         </material>
  1113.       </visual>
  1114.       <collision name='Wall_57_Collision_0'>
  1115.         <geometry>
  1116.           <Box>
  1117.             <size>0.146885 0.15 2.5</size>
  1118.           </Box>
  1119.         </geometry>
  1120.         <pose frame=''>-0.534301 0 1.25 0 -0 0</pose>
  1121.       </collision>
  1122.       <visual name='Wall_57_Visual_1'>
  1123.         <pose frame=''>0.511599 0 1.25 0 -0 0</pose>
  1124.         <geometry>
  1125.           <Box>
  1126.             <size>0.19229 0.15 2.5</size>
  1127.           </Box>
  1128.         </geometry>
  1129.         <material>
  1130.           <script>
  1131.             <uri>file://media/materials/scripts/gazebo.material</uri>
  1132.             <name>Gazebo/Grey</name>
  1133.           </script>
  1134.           <ambient>1 1 1 1</ambient>
  1135.         </material>
  1136.       </visual>
  1137.       <collision name='Wall_57_Collision_1'>
  1138.         <geometry>
  1139.           <Box>
  1140.             <size>0.19229 0.15 2.5</size>
  1141.           </Box>
  1142.         </geometry>
  1143.         <pose frame=''>0.511599 0 1.25 0 -0 0</pose>
  1144.       </collision>
  1145.       <visual name='Wall_57_Visual_2'>
  1146.         <pose frame=''>-0.022702 0 2.25 0 -0 0</pose>
  1147.         <geometry>
  1148.           <Box>
  1149.             <size>0.876312 0.15 0.5</size>
  1150.           </Box>
  1151.         </geometry>
  1152.         <material>
  1153.           <script>
  1154.             <uri>file://media/materials/scripts/gazebo.material</uri>
  1155.             <name>Gazebo/Grey</name>
  1156.           </script>
  1157.           <ambient>1 1 1 1</ambient>
  1158.         </material>
  1159.       </visual>
  1160.       <collision name='Wall_57_Collision_2'>
  1161.         <geometry>
  1162.           <Box>
  1163.             <size>0.876312 0.15 0.5</size>
  1164.           </Box>
  1165.         </geometry>
  1166.         <pose frame=''>-0.022702 0 2.25 0 -0 0</pose>
  1167.       </collision>
  1168.     </link>
  1169.     <static>1</static>
  1170.   </model>
  1171. </sdf>

主要是Gazebo仿真场景中各类物体的具体属性参数。

model.config：

  1. <?xml version="1.0" ?>
  2. <model>
  3.     <name>whiz_ex_window</name>
  4.     <version>1.0</version>
  5.     <sdf version="1.6">model.sdf</sdf>
  6.     <author>
  7.         <name></name>
  8.         <email></email>
  9.     </author>
  10.     <description></description>
  11. </model>

可以做一些署名，邮箱，说明等。

launch：


以gazebo_kamtoa.launch为例，具体说明：

  1. <?xml version="1.0"?>
  2. <!--
  3.     ENTRY FILE FOR LAUNCHING FULL SIMULATION
  4.     Company : Obodroid Corporation
  5.     Author : Theppasith N. <theppasith@gmail.com>
  6. -->
  7.  
  8. <launch>
  9.  
  10.   <!-- Parameters by Console Arguments -->
  11.   <arg name="model_name" default="kamtoa_robot"/>
  12.   <arg name="urdf_path"  default="$(find kamtoa_description)/urdf/kamtoa_prototype/$(arg model_name).xacro"/>
  13.   <arg name="world_name" default="building1.world"/>
  14.  
  15.   <!-- ROBOT Description file for RVIZ and Gazebo [Globally Set]-->
  16.   <param name ="robot_description" command="$(find xacro)/xacro --inorder $(arg urdf_path)" />
  17.  
  18.   <!-- Initialize RVIZ for visualize sensing system -->
  19.   <!-- use model from robot_description param-->
  20.   <include file="$(find som_o_description)/launch/rviz_gui.launch" />
  21.  
  22.   <!-- Initialize Gazebo World -->
  23.   <include file="$(find kamtoa_gazebo)/launch/world.launch">
  24.       <arg name="world_name" value="$(arg world_name)"/>
  25.   </include>
  26.  
  27.   <!-- Spawn URDF in the gazebo world -->
  28.   <!-- use model from robot_description param-->
  29.   <include file="$(find kamtoa_gazebo)/launch/spawner.launch">
  30.       <arg name="model_name" value="$(arg model_name)"/>
  31.       <!-- Param name robot_description (global) -->
  32.   </include>
  33.  
  34. </launch>

分为基本参数，机器人描述（RVIZ和Gazebo），RVIZ初始化，Gazebo初始化等。这时，如果在终端运行： 

  1. ~$ roslaunch kamtoa_gazebo gazebo_kamtoa.launch

可以启动roscore，rviz和gazebo如下： 

  1. relaybotBox@relaybotBox-desktop:~$ roslaunch kamtoa_gazebo gazebo_kamtoa.launch ... logging to /home/relaybotBox/.ros/log/e9deba26-9786-11e6-be4d-00e0b4159b08/roslaunch-relaybotBox-desktop-5005.log
  2. Checking log directory for disk usage. This may take awhile.
  3. Press Ctrl-C to interrupt
  4. Done checking log file disk usage. Usage is <1GB.
  5.  
  6. started roslaunch server http://relaybotBox-desktop:41694/
  7.  
  8. SUMMARY
  9. ========
  10.  
  11. PARAMETERS
  12.  * /robot_description: <?xml version="1....
  13.  * /rosdistro: kinetic
  14.  * /rosversion: 1.12.5
  15.  * /use_gui: True
  16.  * /use_sim_time: True
  17.  
  18. NODES
  19.   /
  20.     gazebo (gazebo_ros/gazebo)
  21.     joint_state_publisher (joint_state_publisher/joint_state_publisher)
  22.     robot_state_publisher (robot_state_publisher/state_publisher)
  23.     rviz (rviz/rviz)
  24.     urdf_spawner (gazebo_ros/spawn_model)
  25.  
  26. auto-starting new master
  27. process[master]: started with pid [5019]
  28. ROS_MASTER_URI=http://localhost:11311
  29.  
  30. setting /run_id to e9deba26-9786-11e6-be4d-00e0b4159b08
  31. process[rosout-1]: started with pid [5033]
  32. started core service [/rosout]
  33. process[joint_state_publisher-2]: started with pid [5046]
  34. process[robot_state_publisher-3]: started with pid [5054]
  35. process[rviz-4]: started with pid [5059]
  36. process[gazebo-5]: started with pid [5066]
  37. process[urdf_spawner-6]: started with pid [5090]
  38. spawn_model script started
  39. [INFO] [WallTime: 1477051642.645687] [0.000000] Loading model xml from ros parameter
  40. [INFO] [WallTime: 1477051642.655133] [0.000000] Waiting for service /gazebo/spawn_urdf_model
  41. [ INFO] [1477051642.933367561]: Finished loading Gazebo ROS API Plugin.
  42. [ INFO] [1477051642.935174498]: waitForService: Service [/gazebo/set_physics_properties] has not been advertised,waiting...
  43. [INFO] [WallTime: 1477051643.878953] [0.000000] Calling service /gazebo/spawn_urdf_model
  44. [INFO] [WallTime: 1477051643.975877] [1288.802000] Spawn status: SpawnModel: Model pushed to spawn queue,but spawn service timed out waiting for model to appear in simulation under the name kamtoa_robot
  45. Warning [parser.cc:778] XML Element[visualize],child of element[link] not defined in SDF. Ignoring[visualize]. You may have an incorrect SDF file,or an sdformat version that doesn't support this element.
  46. [urdf_spawner-6] process has finished cleanly
  47. log file: /home/relaybotBox/.ros/log/e9deba26-9786-11e6-be4d-00e0b4159b08/urdf_spawner-6*.log
  48. [ INFO] [1477051645.070944164,1288.802000000]: Camera Plugin (robotNamespace = /),Info: Using the 'robotNamespace' param: '/'
  49. [ INFO] [1477051645.096626172,1288.802000000]: Camera Plugin (ns = /)  <tf_prefix_>,set to ""
  50. [ INFO] [1477051645.459096731,1288.802000000]: Laser Plugin (robotNamespace = /),Info: Using the 'robotNamespace' param: '/'
  51. [ INFO] [1477051645.459748522,1288.802000000]: Starting Laser Plugin (ns = /)!
  52. [ INFO] [1477051645.476788533,1288.802000000]: Laser Plugin (ns = /)  <tf_prefix_>,set to ""
  53. [ INFO] [1477051645.565133751,1288.802000000]: Starting plugin DiffDrive(ns = //)!
  54. [ INFO] [1477051645.565451828,1288.802000000]: DiffDrive(ns = //): <rosDebugLevel> = Debug
  55. [ INFO] [1477051645.568106826,1288.802000000]: DiffDrive(ns = //): <tf_prefix> = 
  56. [DEBUG] [1477051645.568619326,1288.802000000]: DiffDrive(ns = //): <commandTopic> = cmd_vel
  57. [DEBUG] [1477051645.568724979,1288.802000000]: DiffDrive(ns = //): <odometryTopic> = odom
  58. [DEBUG] [1477051645.568867307,1288.802000000]: DiffDrive(ns = //): <odometryFrame> = odom
  59. [DEBUG] [1477051645.568927646,1288.802000000]: DiffDrive(ns = //): <robotBaseFrame> = base_footprint
  60. [DEBUG] [1477051645.569256884,1288.802000000]: DiffDrive(ns = //): <publishWheelTF> = false
  61. [DEBUG] [1477051645.569338164,1288.802000000]: DiffDrive(ns = //): <publishWheelJointState> = false
  62. [DEBUG] [1477051645.569393655,1288.802000000]: DiffDrive(ns = //): <legacyMode> = ture
  63. [DEBUG] [1477051645.569843607,1288.802000000]: DiffDrive(ns = //): <wheelSeparation> = 0.29999999999999999
  64. [DEBUG] [1477051645.569951337,1288.802000000]: DiffDrive(ns = //): <wheelDiameter> = 0.082000000000000003
  65. [DEBUG] [1477051645.570012696,1288.802000000]: DiffDrive(ns = //): <wheelAcceleration> = 1.8
  66. [DEBUG] [1477051645.570077175,1288.802000000]: DiffDrive(ns = //): <wheelTorque> = 30
  67. [DEBUG] [1477051645.570139351,1288.802000000]: DiffDrive(ns = //): <updateRate> = 100
  68. [ WARN] [1477051645.570811579,1288.802000000]: DiffDrive(ns = //): <odometrySource> no matching key to 1
  69. [DEBUG] [1477051645.571414503,1288.802000000]: DiffDrive(ns = //): <odometrySource> = default := 1
  70. [DEBUG] [1477051645.572053861,1288.802000000]: DiffDrive(ns = //): <leftJoint> = front_left_wheel_joint
  71. [DEBUG] [1477051645.572185748,1288.802000000]: DiffDrive(ns = //): <rightJoint> = front_right_wheel_joint
  72. [ INFO] [1477051645.576771098,1288.802000000]: DiffDrive(ns = //): Try to subscribe to cmd_vel!
  73. [ INFO] [1477051645.593900394,1288.802000000]: DiffDrive(ns = //): Subscribe to cmd_vel!
  74. [ INFO] [1477051645.597711053,1288.802000000]: DiffDrive(ns = //): Advertise odom on odom !
  75. [ INFO] [1477051645.648506913,1288.825000000]: waitForService: Service [/gazebo/set_physics_properties] is now available.
  76. [ INFO] [1477051645.836105586,1288.862000000]: Physics dynamic reconfigure ready.





可以用如下工具进行分析：

  1. rqt_action           rqt_logger_level     rqt_robot_monitor
  2. rqt_bag              rqt_moveit           rqt_robot_steering
  3. rqt_bag_plugins      rqt_msg              rqt_runtime_monitor
  4. rqt_console          rqt_nav_view         rqt_rviz
  5. rqt_dep              rqt_plot             rqt_service_caller
  6. rqt_graph            rqt_pose_view        rqt_shell
  7. rqt_gui              rqt_publisher        rqt_srv
  8. rqt_gui_cpp          rqt_py_common        rqt_tf_tree
  9. rqt_gui_py           rqt_py_console       rqt_top
  10. rqt_image_view       rqt_reconfigure      rqt_topic
  11. rqt_launch           rqt_robot_dashboard  rqt_web

以rqt_topic为例，可以参看全部主题： 

  1. ~$ rosrun rqt_topic rqt_topic

如果需要查看camera_rgb，可以运行如下命令： 

  1. ~$ rosrun rqt_image_view rqt_image_view


运行rosrun rqt_graph rqt_graph：


此时，gazebo与其他节点并无通信，然后启动如下命令：

  1. ~$ roslaunch kamtoa_teleop teleop_keyboard.launch


  1. <launch>
  2.     <node pkg="kamtoa_teleop" type="kamtoa_keyboard.py" name="kamtoa_keyboard" output="screen" />
  3. </launch>


这时，就可以使用键盘通过/cmd_vel控制gazebo中的机器人在环境中运动，当然键盘控制还有其他一些功能，请看如下源码。

  1. #!/usr/bin/env python
  2.  
  3. # Copyright (c) 2011,Willow Garage,Inc.
  4. # All rights reserved.
  5. #
  6. # Redistribution and use in source and binary forms,with or without
  7. # modification,are permitted provided that the following conditions are met:
  8. #
  9. #    * Redistributions of source code must retain the above copyright
  10. #      notice,this list of conditions and the following disclaimer.
  11. #    * Redistributions in binary form must reproduce the above copyright
  12. #      notice,this list of conditions and the following disclaimer in the
  13. #      documentation and/or other materials provided with the distribution.
  14. #    * Neither the name of the Willow Garage,Inc. nor the names of its
  15. #      contributors may be used to endorse or promote products derived from
  16. #       this software without specific prior written permission.
  17. #
  18. # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
  19. # AND ANY EXPRESS OR IMPLIED WARRANTIES,INCLUDING,BUT NOT LIMITED TO,THE
  20. # IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
  21. # ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
  22. # LIABLE FOR ANY DIRECT,INDIRECT,INCIDENTAL,SPECIAL,EXEMPLARY,OR
  23. # CONSEQUENTIAL DAMAGES (INCLUDING,PROCUREMENT OF
  24. # SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,DATA,OR PROFITS; OR BUSINESS
  25. # INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY,WHETHER IN
  26. # CONTRACT,STRICT LIABILITY,OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
  27. # ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE,EVEN IF ADVISED OF THE
  28. # POSSIBILITY OF SUCH DAMAGE.
  29.  
  30. import rospy
  31.  
  32. from geometry_msgs.msg import Twist
  33.  
  34. import sys,select,termios,tty
  35.  
  36. msg = """
  37. Control Your Turtlebot!
  38. ---------------------------
  39. Moving around:
  40.    u    i    o
  41.    j    k    l
  42.    m,.
  43. q/z : increase/decrease max speeds by 10%
  44. w/x : increase/decrease only linear speed by 10%
  45. e/c : increase/decrease only angular speed by 10%
  46. space key,k : force stop
  47. anything else : stop smoothly
  48. CTRL-C to quit
  49. """
  50. lightSwitches = {
  51.     '1':'light0','2':'light1','3':'light2','4':'light3','5':'light4'
  52. }
  53.  
  54. moveBindings = {
  55.         'i':(1,0),'o':(1,-1),'j':(0,1),'l':(0,'u':(1,',':(-1,'.':(-1,'m':(-1,}
  56.  
  57. speedBindings={
  58.         'q':(1.1,1.1),'z':(.9,.9),'w':(1.1,'x':(.9,'e':(1,'c':(1,}
  59.  
  60. def getKey():
  61.     tty.setraw(sys.stdin.fileno())
  62.     rlist,_,_ = select.select([sys.stdin],[],0.1)
  63.     if rlist:
  64.         key = sys.stdin.read(1)
  65.     else:
  66.         key = ''
  67.  
  68.     termios.tcsetattr(sys.stdin,termios.TCSADRAIN,settings)
  69.     return key
  70.  
  71. speed = .2
  72. turn = 1
  73.  
  74. def vels(speed,turn):
  75.     return "currently:\tspeed %s\tturn %s " % (speed,turn)
  76.  
  77. if __name__=="__main__":
  78.     settings = termios.tcgetattr(sys.stdin)
  79.  
  80.     rospy.init_node('Kamtoa_teleop_keyboard')
  81.     pub = rospy.Publisher('cmd_vel',Twist,queue_size=5)
  82.  
  83.     light_select = ''
  84.     x = 0
  85.     th = 0
  86.     status = 0
  87.     count = 0
  88.     acc = 0.1
  89.     target_speed = 0
  90.     target_turn = 0
  91.     control_speed = 0
  92.     control_turn = 0
  93.     try:
  94.         print msg
  95.         print vels(speed,turn)
  96.         while(1):
  97.             key = getKey()
  98.             if key in moveBindings.keys():
  99.                 x = moveBindings[key][0]
  100.                 th = moveBindings[key][1]
  101.                 count = 0
  102.             elif key in speedBindings.keys():
  103.                 speed = speed * speedBindings[key][0]
  104.                 turn = turn * speedBindings[key][1]
  105.                 count = 0
  106.  
  107.                 print vels(speed,turn)
  108.                 if (status == 14):
  109.                     print msg
  110.                 status = (status + 1) % 15
  111.             elif key == ' ' or key == 'k' :
  112.                 x = 0
  113.                 th = 0
  114.                 control_speed = 0
  115.                 control_turn = 0
  116.             elif key in lightSwitches.keys():
  117.                 print "lightSwitch pressed!"
  118.  
  119.             else:
  120.                 count = count + 1
  121.                 if count > 4:
  122.                     x = 0
  123.                     th = 0
  124.                 if (key == '\x03'):
  125.                     break
  126.  
  127.             target_speed = speed * x
  128.             target_turn = turn * th
  129.  
  130.             if target_speed > control_speed:
  131.                 control_speed = min( target_speed,control_speed + 0.02 )
  132.             elif target_speed < control_speed:
  133.                 control_speed = max( target_speed,control_speed - 0.02 )
  134.             else:
  135.                 control_speed = target_speed
  136.  
  137.             if target_turn > control_turn:
  138.                 control_turn = min( target_turn,control_turn + 0.1 )
  139.             elif target_turn < control_turn:
  140.                 control_turn = max( target_turn,control_turn - 0.1 )
  141.             else:
  142.                 control_turn = target_turn
  143.  
  144.             twist = Twist()
  145.             twist.linear.x = control_speed; twist.linear.y = 0; twist.linear.z = 0
  146.             twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = control_turn
  147.             pub.publish(twist)
  148.  
  149.     except:
  150.         print e
  151.  
  152.     finally:
  153.         twist = Twist()
  154.         twist.linear.x = 0; twist.linear.y = 0; twist.linear.z = 0
  155.         twist.angular.x = 0; twist.angular.y = 0; twist.angular.z = 0
  156.         pub.publish(twist)
  157.  
  158.     termios.tcsetattr(sys.stdin,settings)


使用手机控制机器人运动也很方便，先查询一下地址：

  1. relaybotBox@relaybotBox-desktop:~$ ifconfig -a
  2. enp3s0    Link encap:以太网  硬件地址 00:e0:b4:15:9b:08  
  3.           inet 地址:192.168.3.23  广播:192.168.3.255  掩码:255.255.255.0
  4.           inet6 地址: fe80::3805:e5fe:19f0:19e2/64 Scope:Link
  5.           UP BROADCAST RUNNING MULTICAST  MTU:1500  跃点数:1
  6.           接收数据包:32257 错误:0 丢弃:0 过载:0 帧数:0
  7.           发送数据包:41654 错误:0 丢弃:0 过载:0 载波:0
  8.           碰撞:0 发送队列长度:1000 
  9.           接收字节:23057526 (23.0 MB)  发送字节:17828352 (17.8 MB)
  10.  
  11. enp4s0    Link encap:以太网  硬件地址 00:e0:b4:15:9b:09  
  12.           UP BROADCAST MULTICAST  MTU:1500  跃点数:1
  13.           接收数据包:0 错误:0 丢弃:0 过载:0 帧数:0
  14.           发送数据包:0 错误:0 丢弃:0 过载:0 载波:0
  15.           碰撞:0 发送队列长度:1000 
  16.           接收字节:0 (0.0 B)  发送字节:0 (0.0 B)
  17.  
  18. lo        Link encap:本地环回  
  19.           inet 地址:127.0.0.1  掩码:255.0.0.0
  20.           inet6 地址: ::1/128 Scope:Host
  21.           UP LOOPBACK RUNNING  MTU:65536  跃点数:1
  22.           接收数据包:8314866 错误:0 丢弃:0 过载:0 帧数:0
  23.           发送数据包:8314866 错误:0 丢弃:0 过载:0 载波:0
  24.           碰撞:0 发送队列长度:1 
  25.           接收字节:671600054 (671.6 MB)  发送字节:671600054 (671.6 MB)

在手机设置IP：192.168.3.23。连接成功后可以看到：


如何让机器人在环境中进行导航呢？运行下面命令：

  1. ~$ roslaunch kamtoa_navigation kamtoa_navigation.launch

其中代码如下： 

  1. <?xml version="1.0"?>
  2. <!-- Fully Autonomous Navigation Launch file-->
  3. <launch>
  4.  
  5.   <!-- Map server -->
  6.   <arg name="map" default="sim_world"/>
  7.   <node name="map_server" pkg="map_server" type="map_server" args="$(find kamtoa_navigation)/maps/$(arg map).yaml"/>
  8.  
  9.  
  10.   <!-- Initial pose for the Localizer -->
  11.   <arg name="initial_pose_x" default="0.0"/>
  12.   <arg name="initial_pose_y" default="0.0"/>
  13.   <arg name="initial_pose_a" default="0.0"/>
  14.  
  15.   <!-- Localizaer : AMCL -->
  16.   <include file="$(find kamtoa_navigation)/launch/modules/amcl.launch.xml">
  17.     <arg name="initial_pose_x" value="$(arg initial_pose_x)"/>
  18.     <arg name="initial_pose_y" value="$(arg initial_pose_y)"/>
  19.     <arg name="initial_pose_a" value="$(arg initial_pose_a)"/>
  20.   </include>
  21.  
  22.   <!-- Velocity Smoother -->
  23.   <include file="$(find kamtoa_navigation)/launch/modules/velocity_smoother.launch.xml"/>
  24.  
  25.   <!-- Navigation Stack (move_base's path planner,costmaps & obstacles manager) -->
  26.   <include file="$(find kamtoa_navigation)/launch/modules/move_base.launch.xml"/>
  27.  
  28.  
  29. </launch>

是不是有很多眼熟的内容，导入Map，机器人位置初值，AMCL，速度平滑，导航等。


这是再看下rqt_graph：


各个节点之间联系清晰可见。


路径规划效果如下：



其他内容后续补充。

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