蓝鲸ROS机器人论坛

ls

版本：ubuntu20.04 ros1
我在solidworks中建立了机器人模型并输出了urdf文件。

<?xml version="1.0" encoding="utf-8"?>
<!-- This URDF was automatically created by SolidWorks to URDF Exporter! Originally created by Stephen Brawner (brawner@gmail.com) 
     Commit Version: 1.6.0-4-g7f85cfe  Build Version: 1.6.7995.38578
     For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
  name="3d_print_robot_model">
  <link
    name="base_link">
    <inertial>
      <origin
        xyz="0.19898390423237 0.136295828839814 0.0559696626408911"
        rpy="0 0 0" />
      <mass
        value="1.57046726571518" />
      <inertia
        ixx="0.0161662239279828"
        ixy="-4.51732951485129E-08"
        ixz="4.53270639100012E-07"
        iyy="0.0069929467963612"
        iyz="-2.83217287565168E-08"
        izz="0.0221140119223207" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://3d_print_robot_model/meshes/base_link.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.776470588235294 0.756862745098039 0.737254901960784 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://3d_print_robot_model/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link
    name="trans1">
    <inertial>
      <origin
        xyz="0.251041515587677 -0.020143080425782 -0.0239546550789421"
        rpy="0 0 0" />
      <mass
        value="1.27430857423357" />
      <inertia
        ixx="0.00142116644244525"
        ixy="7.61020229656834E-08"
        ixz="-4.38157220825767E-08"
        iyy="0.0178126840190855"
        iyz="-0.00034411056257697"
        izz="0.0174663670074097" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://3d_print_robot_model/meshes/trans1.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.627450980392157 0.627450980392157 0.627450980392157 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://3d_print_robot_model/meshes/trans1.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="trans1j"
    type="prismatic">
    <origin
      xyz="-0.097806 0.26668 0.19086"
      rpy="0 0 0" />
    <parent
      link="base_link" />
    <child
      link="trans1" />
    <axis
      xyz="0 -1 0" />
    <limit
      lower="-0.1"
      upper="0.3"
      effort="100"
      velocity="1" />
  </joint>
  <link
    name="trans2">
    <inertial>
      <origin
        xyz="0.0274040137942429 -0.0130854946724574 -0.0963303271399604"
        rpy="0 0 0" />
      <mass
        value="0.340507075853314" />
      <inertia
        ixx="0.000710350535613184"
        ixy="6.45300313054141E-07"
        ixz="-5.41413301944147E-07"
        iyy="0.000885240004833508"
        iyz="-2.5310686133709E-07"
        izz="0.00020549973328961" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://3d_print_robot_model/meshes/trans2.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.627450980392157 0.627450980392157 0.627450980392157 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://3d_print_robot_model/meshes/trans2.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="trans2j"
    type="prismatic">
    <origin
      xyz="0.23825 -0.01882 0.13574"
      rpy="0 0 0" />
    <parent
      link="trans1" />
    <child
      link="trans2" />
    <axis
      xyz="-1 0 0" />
    <limit
      lower="-0.2"
      upper="0.2"
      effort="100"
      velocity="1" />
  </joint>
  <link
    name="trans3">
    <inertial>
      <origin
        xyz="0.000409660273492346 0.0225705291571963 -0.0822632214009157"
        rpy="0 0 0" />
      <mass
        value="0.222484066630729" />
      <inertia
        ixx="0.000109697390742199"
        ixy="3.44372047080085E-07"
        ixz="-2.4816924229294E-10"
        iyy="0.000256232209662399"
        iyz="-6.5646480077053E-10"
        izz="0.000246948709210129" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://3d_print_robot_model/meshes/trans3.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.509803921568627 0.509803921568627 0.588235294117647 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://3d_print_robot_model/meshes/trans3.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="trans3j"
    type="prismatic">
    <origin
      xyz="0.028832 -0.081699 -0.055943"
      rpy="0 0 0" />
    <parent
      link="trans2" />
    <child
      link="trans3" />
    <axis
      xyz="0 0 -1" />
    <limit
      lower="-0.1"
      upper="0.05"
      effort="100"
      velocity="1" />
  </joint>
  <link
    name="ror">
    <inertial>
      <origin
        xyz="-7.89010088469988E-06 -2.21880413486808E-07 0.0901578124971945"
        rpy="0 0 0" />
      <mass
        value="0.291525306330778" />
      <inertia
        ixx="0.000391685635976909"
        ixy="-3.40344185301567E-09"
        ixz="1.24543651227828E-07"
        iyy="0.000391752179776028"
        iyz="-9.49073079659087E-11"
        izz="9.82239673904642E-05" />
    </inertial>
    <visual>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://3d_print_robot_model/meshes/ror.STL" />
      </geometry>
      <material
        name="">
        <color
          rgba="0.627450980392157 0.627450980392157 0.627450980392157 1" />
      </material>
    </visual>
    <collision>
      <origin
        xyz="0 0 0"
        rpy="0 0 0" />
      <geometry>
        <mesh
          filename="package://3d_print_robot_model/meshes/ror.STL" />
      </geometry>
    </collision>
  </link>
  <joint
    name="rorj"
    type="revolute">
    <origin
      xyz="0 0 -0.16563"
      rpy="0 0 0" />
    <parent
      link="trans3" />
    <child
      link="ror" />
    <axis
      xyz="0 0 1" />
    <limit
      lower="-3.14"
      upper="3.14"
      effort="100"
      velocity="1" />
  </joint>
</robot>

在其上加入了摄像头部件的物理信息xacro文件

<!-- 摄像头相关的 xacro 文件 -->
<robot name="my_camera" xmlns:xacro="http://wiki.ros.org/xacro">
    <!-- 摄像头属性 -->
    <xacro:property name="camera_length" value="0.001" /> <!-- 摄像头长度(x) -->
    <xacro:property name="camera_width" value="0.001" /> <!-- 摄像头宽度(y) -->
    <xacro:property name="camera_height" value="0.001" /> <!-- 摄像头高度(z) -->
    <xacro:property name="camera_x" value="0.00390" /> <!-- 摄像头安装的x坐标 -->
    <xacro:property name="camera_y" value="-0.00670" /> <!-- 摄像头安装的y坐标 -->
    <xacro:property name="camera_z" value="0.01307" /> <!-- 摄像头安装的z坐标 -->

    <!-- 摄像头关节以及link -->
    <link name="camera_link">
        <visual>
            <geometry>
                <box size="${camera_length} ${camera_width} ${camera_height}" />
            </geometry>
            <origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" />
        </visual>
          <inertial>
              <mass value="0.1"/>
              <inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001"/>
          </inertial>
    </link>

    <joint name="camera2base_link" type="fixed">
        <parent link="ror" />
        <child link="camera_link" />
        <origin xyz="${camera_x} ${camera_y} ${camera_z}" />
    </joint>        
</robot>

以及传感器插件xacro文件

<?xml version="1.0"?>
<robot name="my_sensors" xmlns:xacro="http://ros.org/wiki/xacro">
<!-- camera -->
<gazebo reference="camera_link">
  <sensor type="camera" name="camera_sensor">
    <update_rate>30.0</update_rate>
    <camera>
      <horizontal_fov>1.3962634</horizontal_fov>
      <image>
        <width>800</width>
        <height>800</height>
        <format>R8G8B8</format>
      </image>
      <clip>
        <near>0.02</near>
        <far>300</far>
      </clip>
      <noise>
        <type>gaussian</type>
        <mean>0.0</mean>
        <stddev>0.007</stddev>
      </noise>
    </camera>
    <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
      <alwaysOn>true</alwaysOn>
      <updateRate>30.0</updateRate>
      <cameraName>robot/camera</cameraName>
      <imageTopicName>image_raw</imageTopicName>
      <cameraInfoTopicName>camera_info</cameraInfoTopicName>
      <frameName>camera_link</frameName>
      <hackBaseline>0.07</hackBaseline>
      <distortionK1>0.0</distortionK1>
      <distortionK2>0.0</distortionK2>
      <distortionK3>0.0</distortionK3>
      <distortionT1>0.0</distortionT1>
      <distortionT2>0.0</distortionT2>
    </plugin>
  </sensor>
</gazebo>
</robot>

组装的xacro文件

<robot name="my_robot" xmlns:xacro="https://wiki.ros.org/xacro">
  <xacro:include filename="$(find 3d_print_robot_model)/xacro/robot.xacro"/>
  <xacro:include filename="$(find 3d_print_robot_model)/xacro/camera.xacro"/>
    <!--gazebo仿真文件-->
  <xacro:include filename="$(find 3d_print_robot_model)/xacro/g_camera.xacro"/>
  <!-- xacro:include filename="ros_control.xacro"/>-->
  <!--xacro:include filename="deepcamera.xacro"/>-->
  <!-- <xacro:include filename="laser_gazebo.xacro"/> -->

</robot>

上述代码中，camera的图片信息回发布在image_raw主题中，但实际运行时通过查找rostopic list发现该话题并未发布。

在rviz当中机器人的物理信息也完全显示出来，没有问题。
请问这是什么原因造成的呢？

ls

@ls

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