《鴻蒙機(jī)器人編程》5-實(shí)踐課-創(chuàng)建仿真機(jī)器人與實(shí)體機(jī)器人同步-實(shí)訓(xùn)指南

實(shí)踐課-創(chuàng)建仿真機(jī)器人與實(shí)體機(jī)器人同步課程內(nèi)容： 本節(jié)主要介紹Arbotix控制機(jī)器人模型運(yùn)動(dòng)的功能，以及操控實(shí)體機(jī)器人和仿真機(jī)器人的同步運(yùn)動(dòng)。教學(xué)目標(biāo)：掌握Arbotix控制機(jī)器人模型運(yùn)動(dòng)掌握啟動(dòng)實(shí)體機(jī)器人運(yùn)動(dòng)的demo掌握操作實(shí)體機(jī)器人及仿真機(jī)器人進(jìn)行同步運(yùn)動(dòng)一．控制仿真機(jī)器人運(yùn)動(dòng)1.準(zhǔn)備工作先去github下載Spark的代碼：$cd~$gitclone/NXROBO/spark_noetic.git在Spark的開發(fā)包里，已經(jīng)包含了Spark的仿真啟動(dòng)環(huán)境，我們先從啟動(dòng)腳本入手來了解下Spark的仿真啟動(dòng)內(nèi)容。launch文件路徑： spark_noetic/src/spark/spark_description/launch/spark_description_rviz.launch2.加載模型下圖是launch文件的具體內(nèi)容。<!--sparkdescriptionwithrviz--><launch><argname="camera_type_tel"default="astrapro"doc="cameratypes[asatra,astrapro,d435...]"/><argname="lidar_type_tel"default="3iroboticslidar2"doc="lidartype[3iroboticslidar2,ydlidar_g2]"/><argname="model"default="$(findspark_description)/robots/spark.urdf.xacro"/><argname="use_gui"default="false"/><argname="publish_default_positions"default="true"/><paramname="robot_description"command="$(findxacro)/xacro--inorder'$(argmodel)'camera_type_tel:=$(argcamera_type_tel)lidar_type_tel:=$(arglidar_type_tel)"/><nodename="joint_state_publisher"pkg="joint_state_publisher"type="joint_state_publisher"> <paramname="use_gui"value="$(arguse_gui)"/> <paramname="publish_default_positions"value="$(argpublish_default_positions)"/> <rosparamparam="source_list">["wheel_states"]</rosparam></node><nodename="robot_state_publisher"pkg="robot_state_publisher"type="state_publisher"/><!--showrobowithrviz--><argname="rvizconfig"default="$(findspark_description)/rviz/urdf.rviz"/><nodename="rviz"pkg="rviz"type="rviz"args="-d$(argrvizconfig)"required="true"/></launch>可以看出，這里定義了一個(gè)model變量，實(shí)際上他是指定一個(gè)機(jī)器人的urdf的描述文件。腳本啟動(dòng)了三個(gè)節(jié)點(diǎn)，joint_state_publisher、robot_state_publisher和rviz。而joint_state_publisher和robot_state_publisher兩個(gè)節(jié)點(diǎn)均屬于ros_control包中的工具。啟動(dòng)仿真機(jī)器人，運(yùn)行下面命令：$roslaunchspark_descriptionspark_description_rviz.launch3.控制模型運(yùn)動(dòng)在launch文檔中，我們只是加載了ros_control的相關(guān)節(jié)點(diǎn)以及rviz仿真器，它僅僅只是將我們的spark顯示出來。為了讓我們的仿真spark動(dòng)起來，我們還需要一個(gè)底盤的模擬節(jié)點(diǎn)，在此我們使用arbotix這個(gè)包來完成此功能。$sudoaptinstallros-noetic-arbotix之后創(chuàng)建src/spark/spark_description/config/fake_spark_arbotix.yaml配置文件，用以仿真spark底盤參數(shù):mkdir–pspark_noetic/src/spark/spark_description/configcdspark_noetic/src/spark/spark_description/config/touchfake_spark_arbotix.yamlgeditfake_spark_arbotix.yaml4.修改配置文件fake_spark_arbotix.yaml文件內(nèi)容如下：port:/dev/ttyUSB0baud:115200rate:20sync_write:Truesync_read:Trueread_rate:20write_rate:20controllers:{#Pololumotors:1856cpr=0.3888105mtravel=4773tickspermeter(empirical:4100)base_controller:{type:diff_controller,base_frame_id:base_footprint,base_width:0.26,ticks_meter:4100,Kp:12,Kd:12,Ki:0,Ko:50,accel_limit:1.0}}5.啟動(dòng)新建launch文件命名為spark_description_arbotix.launch，具體代碼如下：<!--sparkdescriptionwithrviz--><launch><argname="camera_type_tel"default="astrapro"doc="cameratypes[asatra,astrapro,d435...]"/><argname="lidar_type_tel"default="3iroboticslidar2"doc="lidartype[3iroboticslidar2,ydlidar_g2]"/><argname="model"default="$(findspark_description)/robots/spark.urdf.xacro"/><argname="use_gui"default="false"/><argname="publish_default_positions"default="true"/><paramname="robot_description"command="$(findxacro)/xacro--inorder'$(argmodel)'camera_type_tel:=$(argcamera_type_tel)lidar_type_tel:=$(arglidar_type_tel)"/><nodename="joint_state_publisher"pkg="joint_state_publisher"type="joint_state_publisher"> <paramname="use_gui"value="$(arguse_gui)"/> <paramname="publish_default_positions"value="$(argpublish_default_positions)"/> <rosparamparam="source_list">["wheel_states"]</rosparam></node><nodename="robot_state_publisher"pkg="robot_state_publisher"type="robot_state_publisher"/><nodename="arbotix"pkg="arbotix_python"type="arbotix_driver"output="screen"clear_params="true"><rosparamfile="$(findspark_description)/config/fake_spark_arbotix.yaml"command="load"/><paramname="sim"value="true"/></node><!--showrobowithrviz--><argname="rvizconfig"default="$(findspark_description)/rviz/urdf.rviz"/><nodename="rviz"pkg="rviz"type="rviz"args="-d$(argrvizconfig)"required="true"/></launch>啟動(dòng)此launch檔，記得先載入spark環(huán)境：$cdspark_noetic$sourcedevel/setup.bash$roslaunchspark_descriptionspark_description_arbotix.launch6.開始控制我們打開一個(gè)新的terminal，手動(dòng)發(fā)送/cmd_vel這個(gè)topic，就會(huì)看到spark模型動(dòng)起來啦。$rostopicpub-r10/cmd_velgeometry_msgs/Twist'{linear:{x:0.5,y:0,z:0},angular:{x:0,y:0,z:0.5}}'7.鍵盤控制開啟一個(gè)新終端并加載環(huán)境變量，并運(yùn)行：$source~/spark_noetic/devel/setup.bash$rosrunspark_teleopspark_teleop_node這樣我們就可以實(shí)現(xiàn)鍵盤控制，如下圖所示。二．控制實(shí)體機(jī)器人運(yùn)動(dòng)在Spark的開發(fā)包中已經(jīng)提供了底盤的驅(qū)動(dòng)，我們只需要啟動(dòng)它，向它發(fā)送速度就可以了，開發(fā)包中還貼心的提供了鍵盤控制程序。Spark的驅(qū)動(dòng)包路徑：src/spark_driver/base/spark_base。發(fā)送命令：$source~/spark_noetic/devel/setup.bash$roslaunchspark_basespark_base.launch啟動(dòng)一個(gè)新的terminal窗口：$rostopicpub-r10/cmd_velgeometry_msgs/Twist'{linear:{x:0.5,y:0,z:0},angular:{x:0,y:0,z:0.5}}'串口設(shè)置正確的話，就能看到spark開始轉(zhuǎn)圈圈啦。也可以在新終端窗口輸入：$source~/spark/devel/setup.bash$rosrunspark_teleopspark_teleop_node這樣就可以實(shí)現(xiàn)，通過鍵盤WASD控制SPARK移動(dòng)。三．控制實(shí)體Spark與仿真Spark同步運(yùn)動(dòng)啟動(dòng)實(shí)體Spark：$source~/spark/devel/setup.bash$roslaunchspark_basespark_base.launch啟動(dòng)仿真Spark：$cdspark$sourcedevel/setup.bash$roslaunchspark_descriptionspark_description_rviz.launch新終端窗口輸入如下指令轉(zhuǎn)圈：$rostopicpub-r10/cmd_velgeometry_msgs/Twist'{line