<robot name="my_car_move" xmlns:xacro="http://wiki.ros.org/xacro">
<!-- 传动实现:用于连接控制器与关节 -->
<xacro:macro name="joint_trans" params="joint_name">
<!-- Transmission is important to link the joints and the controller -->
<transmission name="${joint_name}_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${joint_name}">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="${joint_name}_motor">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
<!-- 每一个驱动轮都需要配置传动装置 -->
<xacro:joint_trans joint_name="left2link" />
<xacro:joint_trans joint_name="right2link" />
<!-- 控制器 -->
<gazebo>
<plugin name="differential_drive_controller" filename="../opt/ros/melodic/lib/libgazebo_ros_diff_drive.so">
<rosDebugLevel>Debug</rosDebugLevel>
<publishWheelTF>true</publishWheelTF>
<robotNamespace>/</robotNamespace>
<publishTf>1</publishTf>
<publishOdomTF>true</publishOdomTF>
<publishWheelJointState>true</publishWheelJointState>
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<legacyMode>true</legacyMode>
<leftJoint>left2link</leftJoint> <!-- 左轮 -->
<rightJoint>right2link</rightJoint> <!-- 右轮 -->
<wheelSeparation>${base_link_radius * 2}</wheelSeparation> <!-- 车轮间距 -->
<wheelDiameter>${wheel_radius * 2}</wheelDiameter> <!-- 车轮直径 -->
<broadcastTF>1</broadcastTF>
<wheelTorque>30</wheelTorque>
<wheelAcceleration>1.8</wheelAcceleration>
<commandTopic>cmd_vel</commandTopic> <!-- 运动控制话题 -->
<odometryFrame>odom</odometryFrame>
<odometryTopic>odom</odometryTopic> <!-- 里程计话题 -->
<robotBaseFrame>base_footprint</robotBaseFrame> <!-- 根坐标系 -->
<odometrySource>world</odometrySource> <!-- 'encoder' instead of 'world' is also possible -->
</plugin>
</gazebo>
</robot>
<xacro:property name="PI" value="3.1415926"/>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
<xacro:property name="base_footprint_radius" value="0.001" /> <!-- base_footprint -->
<xacro:property name="base_link_radius" value="0.1" /> <!-- base_link -->
<xacro:property name="base_link_length" value="0.08" /> <!-- base_link -->
<xacro:property name="base_link_mass" value="2" /> <!-- base_link -->
<xacro:property name="earth_space" value="0.015" /> <!-- lidijianju -->
<!-- dipan -->
<link name="base_footprint">
<visual>
<geometry>
<sphere radius="${base_footprint_radius}" />
</geometry>
</visual>
</link>
<link name="base_link">
<visual>
<geometry>
<cylinder radius="${base_link_radius}" length="${base_link_length}" />
</geometry>
<origin xyz="0 0 0" rpy="0 0 0" />
<material name="yellow">
<color rgba="0.5 0.3 0.0 0.5" />
</material>
</visual>
<collision>
<geometry>
<cylinder radius="${base_link_radius}" length="${base_link_length}" />
</geometry>
<origin xyz="0 0 0" rpy="0 0 0" />
</collision>
<xacro:cylinder_inertial_matrix m= "${base_link_mass}" r= "${base_link_radius}" h = "${base_link_length}" />
</link>
<gazebo reference = "base_link">
<material>Gazebo/Yellow</material>
</gazebo>
<joint name="base_link2base_footprint" type="fixed">
<parent link="base_footprint" />
<child link="base_link" />
<origin xyz="0 0 ${earth_space + base_link_length / 2 }" />
</joint>
<!-- qudonglun -->
<xacro:property name="wheel_radius" value="0.0325" /><!-- -->
<xacro:property name="wheel_length" value="0.015" /><!-- -->
<xacro:property name="wheel_mass" value="0.05" /><!-- -->
<xacro:macro name="add_wheels" params="wheel_name flag">
<link name="${wheel_name}_wheel">
<visual>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_length}" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="${PI / 2} 0.0 0.0" />
<material name="black" />
</visual>
<collosion>
<geometry>
<cylinder radius="${wheel_radius}" length="${wheel_length}" />
</geometry>
<origin xyz="0.0 0.0 0.0" rpy="${PI / 2} 0.0 0.0" />
</collosion>
<xacro:cylinder_inertial_matrix m= "${wheel_mass}" r= "${wheel_radius}" h = "${wheel_length}" />
</link>
<gazebo reference = "${wheel_name}_wheel">
<material>Gazebo/Red</material>
</gazebo>
<joint name="${wheel_name}2link" type="continuous">
<parent link="base_link" />
<child link="${wheel_name}_wheel" />
<origin xyz="0 ${flag * base_link_radius} ${-(earth_space + base_link_length / 2 - wheel_radius) }" />
<axis xyz="0 1 0" />
</joint>
</xacro:macro>
<xacro:add_wheels wheel_name="left" flag="1" />
<xacro:add_wheels wheel_name="right" flag="-1" />
<!-- zhichenglun -->
<xacro:property name="support_wheel_radius" value="0.0075" />
<xacro:property name="support_wheel_mass" value="0.0100" />
<xacro:macro name="add_support_wheel" params="name flag" >
<link name="${name}_wheel">
<visual>
<geometry>
<sphere radius="${support_wheel_radius}" />
</geometry>
<origin xyz="0 0 0" rpy="0 0 0" />
<material name="black" />
</visual>
<collision>
<geometry>
<sphere radius="${support_wheel_radius}" />
</geometry>
<origin xyz="0 0 0" rpy="0 0 0" />
</collision>
<xacro:sphere_inertial_matrix m = "${support_wheel_mass}" r = "${support_wheel_radius}" />
</link>
<gazebo reference="${name}_wheel">
<material>Gazebo/Black</material>
</gazebo>
<joint name="${name}_wheel2base_link" type="continuous">
<parent link="base_link" />
<child link="${name}_wheel" />
<origin xyz="${flag * (base_link_radius - support_wheel_radius)} 0 ${-(base_link_length / 2 + earth_space / 2)}" />
<axis xyz="1 1 1" />
</joint>
</xacro:macro>
<xacro:add_support_wheel name="front" flag="1" />
<xacro:add_support_wheel name="back" flag="-1" />
