自主导航系列11-gazebo的模型建立

昨天在做有关robpt_pose_ekf的时候，发现自己gazebo的知识极度欠缺，反正这段时间比较闲，我可以学一下这些基础的东西

使用robot_pose_ekf

如果不使用这个包可能会出现“卡墙”

之前的节点关系

自主导航系列11-gazebo的模型建立

我试着与move_base结合，这个图使用的是基于turtlebot3融合之后的产物

自主导航系列11-gazebo的模型建立

完成后的/tf长这样

自主导航系列11-gazebo的模型建立

修改的turtlebot3_roboot_pose_ekf如下

<launch>
<include file="$(find turtlebot3_gazebo)/launch/turtlebot3_world.launch"/>

<include file="$(find turtlebot3_slam)/launch/turtlebot3_slam.launch"/>

<node name="base_imu_link" pkg="tf" type="static_transform_publisher" args="-0.032 0 0.068 0 0 0  /base_link /base_imu_link 50"/>


<node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf">
        <param name="output_frame" value="odom"/>
        <param name="base_footprint_frame" value="base_footprint"/>
        <param name="freq" value="30.0"/>
        <param name="sensor_timeout" value="1.0"/>
        <param name="odom_used" value="true"/>
        <param name="imu_used" value="true"/>
        <param name="vo_used" value="false"/>
        <param name="debug" value="false"/>
        <param name="self_diagnose" value="false"/>
                <remap from="imu_data" to="imu" />
    </node>
</launch>

有趣的知识：当你想自己发布odom话题控制rviz里的机器人运动时，发现gazebo也发布了odom话题，此时的一种方法就是把gazebo中的odom话题改名

找到/home/jianzhuozhu/catkin_ws/src/turtlebot3/turtlebot3/turtlebot3_description/urdf下的turtlebot3_burger.gazebo.xacro

注意：在同一目录下的turtlebot3_burger.urdf.xacro 中有包含<xacro:include filename="$(find turtlebot3_description)/urdf/turtlebot3_burger.gazebo.xacro"/>

将

  <gazebo>
    <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
      <commandTopic>cmd_vel</commandTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>odom</odometryFrame>
      <odometrySource>world</odometrySource>
      <publishOdomTF>true</publishOdomTF>
      <robotBaseFrame>base_footprint</robotBaseFrame>
      <publishWheelTF>false</publishWheelTF>
      <publishTf>true</publishTf>
      <publishWheelJointState>true</publishWheelJointState>
      <legacyMode>false</legacyMode>
      <updateRate>30</updateRate>
      <leftJoint>wheel_left_joint</leftJoint>
      <rightJoint>wheel_right_joint</rightJoint>
      <wheelSeparation>0.160</wheelSeparation>
      <wheelDiameter>0.066</wheelDiameter>
      <wheelAcceleration>1</wheelAcceleration>
      <wheelTorque>10</wheelTorque>
      <rosDebugLevel>na</rosDebugLevel>
    </plugin>
  </gazebo>

改为

  <gazebo>
    <plugin name="turtlebot3_burger_controller" filename="libgazebo_ros_diff_drive.so">
      <commandTopic>cmd_vel</commandTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>odom</odometryFrame>
      <odometrySource>world</odometrySource>
      <publishOdomTF>false</publishOdomTF>
      <robotBaseFrame>base_footprint</robotBaseFrame>
      <publishWheelTF>false</publishWheelTF>
      <publishTf>true</publishTf>
      <publishWheelJointState>true</publishWheelJointState>
      <legacyMode>false</legacyMode>
      <updateRate>30</updateRate>
      <leftJoint>wheel_left_joint</leftJoint>
      <rightJoint>wheel_right_joint</rightJoint>
      <wheelSeparation>0.160</wheelSeparation>
      <wheelDiameter>0.066</wheelDiameter>
      <wheelAcceleration>1</wheelAcceleration>
      <wheelTorque>10</wheelTorque>
      <rosDebugLevel>na</rosDebugLevel>
    </plugin>
  </gazebo>