ros lesson11议程将激光传感器添加到我们urdf模型中.pdf

Adding Laser Sensor • Adding a sensor to a URDF model consists of: – cing the sensor on the robot by adding a new link and an appropriate joint – Adding an appropriate Gazebo plugin that simulates the sensor itself • Next, we are going to add a Hokuyo laser sensor to our r2d2 URDF model (C)2014 Roi Yehoshua Adding Laser Sensor • We will first add a new link and joint to the URDF of the r2d2 robot • We will ce the laser sensor at the center of the robot’s head • For the visual part of the sensor we'll use the mesh of the Hokuyo laser model from the Gazebo models repository • Open r2d2.urdf and add the following lines before the closing </robot> tag (C)2014 Roi Yehoshua Hokuyo Link <!-- Hokuyo Laser --> <link name="hokuyo_link"> <collision> <origi ="0 0 0" rpy="0 0 0"/> <geometry> <box size="0.1 0.1 0.1"/> </geometry> </collision> <visual> <origi ="0 0 0" rpy="0 0 0"/> <geometry> <mesh filename="package://r2d2_description/meshes/hokuyo.dae"/> </geometry> </visual> <inertial> <mass value="1e-5" /> <origi ="0 0 0" rpy="0 0 0"/> <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" /> </inertial> </link> (C)2014 Roi Yehoshua Hokuyo Joint <joint name="hokuyo_joint" type="fixed"> <axi ="0 0 1" /> <origi ="0 0.22 0.05" rpy="0 0 1.570796"/> <parent link="head"/> <child link="hokuyo_link"/> </joint> • The new <joint> connects the inserted hokuyo laser onto the head of the robot • The joint is fixed to prevent the sensor from moving (C)2014 Roi Yehoshua