ROS学习之路08：创建机器人的urdf(xacro)模型并通过rviz可视化

最新推荐文章于 2025-07-23 18:06:56 发布

RoboticsLearner

最新推荐文章于 2025-07-23 18:06:56 发布

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分类专栏： ROS

本文链接：https://blog.csdn.net/l1216766050/article/details/79586425

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本文详细介绍了URDF和XACRO这两种机器人描述格式在ROS中的应用，包括如何使用它们来创建和可视化复杂的机器人模型。同时，文章还提供了创建机器人模型的具体步骤，包括设置工作空间、创建功能包、编写URDF和XACRO文件等。

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关键术语

urdf：urdf的全称是 Unified Robot Description Format ，即：统一的机器人描述格式. 该格式本质上是xml格式. 在ROS中，我们可以通过编写urdf文件来建立机器人模型，并通过rviz工具进行可视化.
xacro：urdf文件只能是一个单一的文件，我们不能在urdf文件中包含其他的urdf文件，因此，当我们建立比较复杂并且各模块复用程度较高的机器人模型的时候，通过urdf创建的机器人代码量会很大，为了减少代码量，ROS同时也支持xacro宏来创建机器人模型. xacro支持常量和块调用，并且支持加减乘除等功能，最后我们还可以通过ROS提供的工具来将xacro文件转换成urdf文件.

创建工作空间

mkdir -p ~/catkin_ws/src
cd ~/catkin_ws/src
catkin_init_workspace
cd ..
catkin_make

在工作空间中创建功能包

cd ~/catkin_ws/src
catkin_create_pkg custom_urdf roscpp urdf tf rviz geometry_msgs
cd ..
catkin_make
echo "source ~/catkin_ws/devel/setup.bash" >> ~/.bashrc
source ~/.bashrc

向功能包添加机器人的urdf模型

roscd custom_urdf
mkdir rviz
mkdir launch
mkdir urdf && cd urdf
gedit four_wheels_car.urdf

向four_wheels_car.urdf文件添加如下的内容：

<?xml version="1.0" ?>
<robot name="four_wheels_car" xmlns:xacro="http://ros.org/wiki/xacro">
    <link name="base_link">
        <visual>
            <geometry>
                <box size="0.2 .3 .1"/>
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0.05"/>
            <material name="white">
                <color rgba="1 1 1 1"/>
            </material>
        </visual>
    </link>

    <joint name="wheel01_joint" type="fixed">
        <parent link="base_link"/>
        <child link="wheel01_link"/>
        <origin xyz = " 0 0 0" rpy = "0 0 0"/>
    </joint>
    <link name="wheel01_link">
        <visual>
            <geometry>
                <cylinder length="0.05" radius="0.05"/>
            </geometry>
            <origin rpy="0 1.57 0" xyz="0.1 0.1 0"/>
            <material name="black">
                <color rgba="0 0 0 1"/>
            </material>
        </visual>
    </link>

    <joint name="wheel02_joint" type="fixed">
        <parent link="base_link"/>
        <child link="wheel02_link"/>
        <origin xyz = "0 0 0" rpy = "0 0 0"/>
    </joint>
    <link name="wheel02_link">
        <visual>
            <geometry>
                <cylinder length="0.05" radius="0.05"/>
            </geometry>
            <origin rpy="0 1.57 0" xyz="-0.1 0.1 0"/>
            <material name="black"/>
        </visual>
    </link>

    <joint name="wheel03_joint" type="fixed">
        <parent link="base_link"/>
        <child link="wheel03_link"/>
        <origin xyz = "0 0 0" rpy = "0 0 0"/>
    </joint>
    <link name="wheel03_link">
        <visual>
            <geometry>
                <cylinder length="0.05" radius="0.05"/>
            </geometry>
            <origin rpy="0 1.57 0" xyz="0.1 -0.1 0"/>
            <material name="black"/>
        </visual>
    </link>

    <joint name="wheel04_joint" type="fixed">
        <parent link="base_link"/>
        <child link="wheel04_link"/>
        <origin xyz = "0 0 0" rpy = "0 0 0"/>
    </joint>
    <link name="wheel04_link">
        <visual>
            <geometry>
                <cylinder length="0.05" radius="0.05"/>
            </geometry>
            <origin rpy="0 1.57 0" xyz="-0.1 -0.1 0"/>
            <material name="black"/>
        </visual>
    </link>

</robot>

保存文件并退出.

编写launch启动文件

roscd custom_urdf/launch
gedit view_car.launch

输入如下的内容，保存并退出：

<launch>
    <arg name = "model"/>
    <param name = "robot_description" textfile = "$(find custom_urdf)/urdf/four_wheels_car.urdf"/>
    <param name = "use_gui" value = "true"/>

    <node name = "joint_state_publisher"
          pkg = "joint_state_publisher"
          type = "joint_state_publisher"/>

    <node name = "robot_state_publisher"
          pkg = "robot_state_publisher"
          type = "state_publisher"/>

    <node name = "rviz"
          pkg = "rviz"
          type = "rviz"
          args = "-d $(find custom_urdf)/rviz/urdf.rviz"
          required = "true"/>
</launch>

注意：节点rviz中的args参数加载功能包的 rviz 目录下的 .rviz 配置文件，因为一开始我们并没有配置rviz任何选项，所以该配置文件并不存在，只有当我们通过launch文件打开了rviz，通过配置rviz然后保存配置文件到功能包的rviz目录下，并将配置文件另存为urdf.rviz文件，当我们再次启动rviz节点的时候，rviz就会自动加载配置文件，我们就不需要手动设置了.

启动节点，通过rviz查看机器人模型

roslaunch custom_urdf view_car.launch

向功能包添加机器人的xacro文件

pan_tilt.xacro

<?xml version="1.0" ?>
<robot name="pan_tilt" xmlns:xacro="http://ros.org/wiki/xacro">
    <xacro:property name = "base_link_length" value = "0.01"/>
    <xacro:property name = "base_link_radius" value = "0.2"/>
    <xacro:property name = "pan_link_length" value = "0.4"/>
    <xacro:property name = "pan_link_radius" value = "0.04"/>
    <xacro:property name = "tilt_link_length" value = "0.4"/>
    <xacro:property name = "tilt_link_radius" value = "0.04"/>

    <xacro:macro name = "inertial_matrix" params = "mass">
        <inertial>
            <mass value = "${mass}"/>
            <inertia ixx = "0.5" ixy = "0.0" ixz = "0.0"
                     iyy = "0.5" iyz = "0.0"
                     izz = "0.5"/>
        </inertial>
    </xacro:macro>

    <link name = "base_link">
        <visual>
            <geometry>
                <cylinder length = "${base_link_length}" radius = "${base_link_radius}"/>
            </geometry>
            <origin xyz = "0 0 0" rpy = "0 0 0"/>
            <material name = "yellow">
                <color rgba = "1 1 0 1"/>
            </material>
        </visual>
        <collision>
            <geometry>
                <cylinder length="${base_link_length+0.02}" radius="0.2"/>
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0"/>
        </collision>
        <xacro:inertial_matrix mass="1"/>
    </link>


    <joint name="pan_joint" type="revolute">
        <parent link="base_link"/>
        <child link="pan_link"/>
        <origin xyz="0 0 0.1"/>
        <axis xyz="0 0 1" />
        <limit effort="300" velocity="0.1" lower="-3.14" upper="3.14"/>
        <dynamics damping="50" friction="1"/>
    </joint>
    <link name="pan_link">
        <visual>
            <geometry>
                <cylinder length="${pan_link_length}" radius="${pan_link_radius}"/>
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0.09"/>
            <material name="red">
                <color rgba="0 0 1 1"/>
            </material>
        </visual>
        <collision>
            <geometry>
                <cylinder length="${pan_link_length}" radius="${pan_link_radius+0.02}"/>
            </geometry>
            <origin rpy="0 0 0" xyz="0 0 0.09"/>
        </collision>
        <xacro:inertial_matrix mass="1"/>
    </link>


    <joint name="tilt_joint" type="revolute">
        <parent link="pan_link"/>
        <child link="tilt_link"/>
        <origin xyz="0 0 0.2"/>
        <axis xyz="0 1 0" />
        <limit effort="300" velocity="0.1" lower="-4.64" upper="-1.5"/>
        <dynamics damping="50" friction="1"/>
    </joint>
    <link name="tilt_link">
        <visual>
            <geometry>
                <cylinder length="${tilt_link_length}" radius="${tilt_link_radius}"/>
            </geometry>
            <origin rpy="0 1.5 0" xyz="0 0 0"/>
            <material name="green">
                <color rgba="1 0 0 1"/>
            </material>
        </visual>
        <collision>
            <geometry>
                <cylinder length="${tilt_link_length}" radius="${tilt_link_radius+0.2}"/>
            </geometry>
            <origin rpy="0 1.5 0" xyz="0 0 0"/>
        </collision>
        <xacro:inertial_matrix mass="1"/>
    </link>

</robot>

编写启动文件

view_demo_xacro.launch

<launch>
    <arg name="model"/>
    <param name="robot_description"
           command="$(find xacro)/xacro --inorder $(find custom_urdf)/urdf/pan_tilt.xacro"/>

    <param name="use_gui" value="true"/>

    <node name="joint_state_publisher"
          pkg="joint_state_publisher"
          type="joint_state_publisher"/>

    <node name="robot_state_publisher"
          pkg="robot_state_publisher"
          type="state_publisher"/>

    <node name="rviz"
          pkg="rviz"
          type="rviz"
          args="-d $(find custom_urdf)/urdf.rviz"
          required="true" />
</launch>

在rviz中查看机器人模型

roslaunch custom_urdf view_demo_xacro.launch

我们可以把 view_demo_xacro.launch 文件中的如下内容：
<param name="robot_description" command="$(find xacro)/xacro --inorder $(find custom_urdf)/urdf/pan_tilt.xacro"/>
换成：
<param name="robot_description" command="$(find xacro)/xacro $(arg model)"/>
这样我们可以通过传入参数来加载机器人模型：

roscd custom_urdf
roslaunch custom_urdf view_demo_xacro.launch model:=urdf/pan_tilt.xacro

完成了机器人简单的urdf和xacro文件的编写
Enjoy It!