ROS中机器小车的仿真实验

一、建立模型

1.创建功能包

mkdir -p catkin_ws/src
cd catkin_ws/src
catkin_init_workspace

导入依赖：

catkin_create_pkg jubot_demo urdf xacro 
cd jubot_demo/
mkdir urdf
mkdir launch
mkdir meshes
mkdir config

创建urdf,launch文件：

<launch><!-- 将 urdf 文件内容设置进参数服务器 --><param name="robot_description" textfile="$(find jubot_demo)/urdf/box_urdf.urdf" /><!-- 启动 rviz --><!-- <node pkg="rviz" type="rviz" name="rviz" /> --><node pkg="rviz" type="rviz" name="rviz" args="-d $(find jubot_demo)/config/rviz/show_four_wheel_car.rviz" /><!-- 启动机器人状态和关节状态发布节点 --><node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" /><node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" /><!-- 启动图形化的控制关节运动节点 --><node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui" /></launch>

urdf：

<!-- <robot name="mycar"><link name="base_link"><visual><geometry><box size="0.5 0.2 0.1" /></geometry></visual></link>
</robot> --><robot name="mycar"><!-- 设置 base_footprint  --><link name="base_footprint"><visual><geometry><sphere radius="0.001" /></geometry></visual></link><!-- 添加底盘 --><!-- 参数形状:圆柱 半径:10     cm 高度:8      cm 离地:1.5    cm--><link name="base_link"><visual><geometry><cylinder radius="0.1" length="0.08" /></geometry><origin xyz="0 0 0" rpy="0 0 0" /><material name="yellow"><color rgba="0.8 0.3 0.1 0.5" /></material></visual></link><joint name="base_link2base_footprint" type="fixed"><parent link="base_footprint" /><child link="base_link"/><origin xyz="0 0 0.055" /></joint><!-- 添加驱动轮 --><!-- 添加驱动轮 --><!--驱动轮是侧翻的圆柱参数半径: 3.25 cm宽度: 1.5  cm颜色: 黑色关节设置:x = 0y = 底盘的半径 + 轮胎宽度 / 2z = 离地间距 + 底盘长度 / 2 - 轮胎半径 = 1.5 + 4 - 3.25 = 2.25(cm)axis = 0 1 0--><link name="left_wheel"><visual><geometry><cylinder radius="0.0325" length="0.015" /></geometry><origin xyz="0 0 0" rpy="1.5705 0 0" /><material name="black"><color rgba="0.0 0.0 0.0 1.0" /></material></visual></link><joint name="left_wheel2base_link" type="continuous"><parent link="base_link" /><child link="left_wheel" /><origin xyz="0 0.1 -0.0225" /><axis xyz="0 1 0" /></joint><link name="right_wheel"><visual><geometry><cylinder radius="0.0325" length="0.015" /></geometry><origin xyz="0 0 0" rpy="1.5705 0 0" /><material name="black"><color rgba="0.0 0.0 0.0 1.0" /></material></visual></link><joint name="right_wheel2base_link" type="continuous"><parent link="base_link" /><child link="right_wheel" /><origin xyz="0 -0.1 -0.0225" /><axis xyz="0 1 0" /></joint><!-- 添加万向轮(支撑轮) --><!-- 添加万向轮(支撑轮) --><!--参数形状: 球体半径: 0.75 cm颜色: 黑色关节设置:x = 自定义(底盘半径 - 万向轮半径) = 0.1 - 0.0075 = 0.0925(cm)y = 0z = 底盘长度 / 2 + 离地间距 / 2 = 0.08 / 2 + 0.015 / 2 = 0.0475 axis= 1 1 1--><link name="front_wheel"><visual><geometry><sphere radius="0.0075" /></geometry><origin xyz="0 0 0" rpy="0 0 0" /><material name="black"><color rgba="0.0 0.0 0.0 1.0" /></material></visual></link><joint name="front_wheel2base_link" type="continuous"><parent link="base_link" /><child link="front_wheel" /><origin xyz="0.0925 0 -0.0475" /><axis xyz="1 1 1" /></joint><link name="back_wheel"><visual><geometry><sphere radius="0.0075" /></geometry><origin xyz="0 0 0" rpy="0 0 0" /><material name="black"><color rgba="0.0 0.0 0.0 1.0" /></material></visual></link><joint name="back_wheel2base_link" type="continuous"><parent link="base_link" /><child link="back_wheel" /><origin xyz="-0.0925 0 -0.0475" /><axis xyz="1 1 1" /></joint>
</robot>

2.可视化

先编译配置launch文件，退到主目录catkin_ws下，执行catkin_make。
成功之后，再执行 catkin_make install。
然后在主目录catkin_make下配置环境变量source devel/setup.bash。
检测环境变量是否配置成功echo $ROS_PACKAGE_PATH。
再启动launch文件，完成可视化的建立：

roslaunch jubot_demo box_launch.launch

模型：

二、添加雷达传感器

1.编写xacro文件

在urdf文件夹下建一个xacro文件夹，在文件夹中新建my_base.urdf.xacro文件，编写xacro文件：

<robot name="my_base" xmlns:xacro="http://www.ros.org/wiki/xacro"><xacro:property name="PI" value="3.141"/><material name="black"><color rgba="0.0 0.0 0.0 1.0" /></material><xacro:property name="base_footprint_radius" value="0.001" /> <xacro:property name="base_link_radius" value="0.1" /> <xacro:property name="base_link_length" value="0.08" /> <xacro:property name="earth_space" value="0.015" /> <link name="base_footprint"><visual><geometry><sphere radius="${base_footprint_radius}" /></geometry></visual></link><link name="base_link"><visual><geometry><cylinder radius="${base_link_radius}" length="${base_link_length}" /></geometry><origin xyz="0 0 0" rpy="0 0 0" /><material name="yellow"><color rgba="0.5 0.3 0.0 0.5" /></material></visual></link><joint name="base_link2base_footprint" type="fixed"><parent link="base_footprint" /><child link="base_link" /><origin xyz="0 0 ${earth_space + base_link_length / 2 }" /></joint><xacro:property name="wheel_radius" value="0.0325" /><xacro:property name="wheel_length" value="0.015" /><xacro:macro name="add_wheels" params="name flag"><link name="${name}_wheel"><visual><geometry><cylinder radius="${wheel_radius}" length="${wheel_length}" /></geometry><origin xyz="0.0 0.0 0.0" rpy="${PI / 2} 0.0 0.0" /><material name="black" /></visual></link><joint name="${name}_wheel2base_link" type="continuous"><parent link="base_link" /><child link="${name}_wheel" /><origin xyz="0 ${flag * base_link_radius} ${-(earth_space + base_link_length / 2 - wheel_radius) }" /><axis xyz="0 1 0" /></joint></xacro:macro><xacro:add_wheels name="left" flag="1" /><xacro:add_wheels name="right" flag="-1" /><xacro:property name="support_wheel_radius" value="0.0075" /> <!-- 支撑轮半径 --><xacro:macro name="add_support_wheel" params="name flag" ><link name="${name}_wheel"><visual><geometry><sphere radius="${support_wheel_radius}" /></geometry><origin xyz="0 0 0" rpy="0 0 0" /><material name="black" /></visual></link><joint name="${name}_wheel2base_link" type="continuous"><parent link="base_link" /><child link="${name}_wheel" /><origin xyz="${flag * (base_link_radius - support_wheel_radius)} 0 ${-(base_link_length / 2 + earth_space / 2)}" /><axis xyz="1 1 1" /></joint></xacro:macro><xacro:add_support_wheel name="front" flag="1" /><xacro:add_support_wheel name="back" flag="-1" /></robot>

2.集成launch文件

在 launch 文件加载 xacro，box_launch文件：

 <launch><!-- <param name="robot_description" textfile="$(find jubot_demo)/urdf/box_urdf.urdf" /> --><param name="robot_description" command="$(find xacro)/xacro $(find jubot_demo)/urdf/xacro/my_base.urdf.xacro" /><!-- <node pkg="rviz" type="rviz" name="rviz" /> --><node pkg="rviz" type="rviz" name="rviz" args="-d $(find jubot_demo)/config/rviz/show_four_wheel_car.rviz" /><node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" /><node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" /><node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui" /></launch>

加载robot_description时使用command属性，属性值就是调用 xacro 功能包的 xacro 程序直接解析 xacro 文件，然后启动launch文件

3.添加摄像头和雷达传感器

在xacro文件夹中建my_camera.urdf.xacro my_car_camera.urdf.xacro my_laser.urdf.xacro文件

my_camera.urdf.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="0.01" /> <!-- 摄像头长度(x) --><xacro:property name="camera_width" value="0.025" /> <!-- 摄像头宽度(y) --><xacro:property name="camera_height" value="0.025" /> <!-- 摄像头高度(z) --><xacro:property name="camera_x" value="0.08" /> <!-- 摄像头安装的x坐标 --><xacro:property name="camera_y" value="0.0" /> <!-- 摄像头安装的y坐标 --><xacro:property name="camera_z" value="${base_link_length / 2 + camera_height / 2}" /> <link name="camera"><visual><geometry><box size="${camera_length} ${camera_width} ${camera_height}" /></geometry><origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /><material name="black" /></visual></link><joint name="camera2base_link" type="fixed"><parent link="base_link" /><child link="camera" /><origin xyz="${camera_x} ${camera_y} ${camera_z}" /></joint>
</robot>

my_laser.urdf.xacro文件：

 
<robot name="my_camera" xmlns:xacro="http://wiki.ros.org/xacro"><xacro:property name="camera_length" value="0.01" /> <xacro:property name="camera_width" value="0.025" /> <xacro:property name="camera_height" value="0.025" /> <xacro:property name="camera_x" value="0.08" /> <xacro:property name="camera_y" value="0.0" /> <xacro:property name="camera_z" value="${base_link_length / 2 + camera_height / 2}" /> <link name="camera"><visual><geometry><box size="${camera_length} ${camera_width} ${camera_height}" /></geometry><origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /><material name="black" /></visual></link><joint name="camera2base_link" type="fixed"><parent link="base_link" /><child link="camera" /><origin xyz="${camera_x} ${camera_y} ${camera_z}" /></joint>
</robot>

my_car_camer.urdf.xacro文件:

 <!-- 组合小车底盘与摄像头与雷达 -->
<robot name="my_car_camera" xmlns:xacro="http://wiki.ros.org/xacro"><xacro:include filename="my_base.urdf.xacro" /><xacro:include filename="my_camera.urdf.xacro" /><xacro:include filename="my_laser.urdf.xacro" />
</robot>

4.修改launch文件

 <launch><!-- <param name="robot_description" command="$(find xacro)/xacro $(find jubot_demo)/urdf/xacro/my_base.urdf.xacro" /> --><param name="robot_description" command="$(find xacro)/xacro $(find jubot_demo)/urdf/xacro/my_car_camera.urdf.xacro" /><node pkg="rviz" type="rviz" name="rviz" args="-d $(find jubot_demo)/config/rviz/show_four_wheel_car.rviz" /><node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" /><node pkg="joint_state_publisher" type="joint_state_publisher" name="joint_state_publisher" /><node pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" name="joint_state_publisher_gui" /></launch>

5.启动

三、GAZEBO仿真

修改碰撞属性和惯性矩阵，导入到gazebo中。

my_base.urdf.xacro：

 <robot name="base" xmlns:xacro="http://wiki.ros.org/xacro"><xacro:macro name="sphere_inertial_matrix" params="m r"><inertial><mass value="${m}" /><inertia ixx="${2*m*r*r/5}" ixy="0" ixz="0"iyy="${2*m*r*r/5}" iyz="0" izz="${2*m*r*r/5}" /></inertial></xacro:macro><xacro:macro name="cylinder_inertial_matrix" params="m r h"><inertial><mass value="${m}" /><inertia ixx="${m*(3*r*r+h*h)/12}" ixy = "0" ixz = "0"iyy="${m*(3*r*r+h*h)/12}" iyz = "0"izz="${m*r*r/2}" /> </inertial></xacro:macro><xacro:macro name="Box_inertial_matrix" params="m l w h"><inertial><mass value="${m}" /><inertia ixx="${m*(h*h + l*l)/12}" ixy = "0" ixz = "0"iyy="${m*(w*w + l*l)/12}" iyz= "0"izz="${m*(w*w + h*h)/12}" /></inertial></xacro:macro>
</robot>

my_camera.urdf.xacro：

 <robot name="my_camera" xmlns:xacro="http://wiki.ros.org/xacro"><xacro:property name="camera_length" value="0.01" /> <xacro:property name="camera_width" value="0.025" /> <xacro:property name="camera_height" value="0.025" /> <xacro:property name="camera_x" value="0.08" /> <xacro:property name="camera_y" value="0.0" /> <xacro:property name="camera_z" value="${base_link_length / 2 + camera_height / 2}" /> <xacro:property name="camera_m" value="0.01" /> <link name="camera"><visual><geometry><box size="${camera_length} ${camera_width} ${camera_height}" /></geometry><origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /><material name="black" /></visual><collision><geometry><box size="${camera_length} ${camera_width} ${camera_height}" /></geometry><origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /></collision><xacro:Box_inertial_matrix m="${camera_m}" l="${camera_length}" w="${camera_width}" h="${camera_height}" /></link><joint name="camera2base_link" type="fixed"><parent link="base_link" /><child link="camera" /><origin xyz="${camera_x} ${camera_y} ${camera_z}" /></joint><gazebo reference="camera"><material>Gazebo/Blue</material></gazebo>
</robot>

my_car_camera.urdf.xacro：

 <robot name="my_laser" xmlns:xacro="http://wiki.ros.org/xacro"><xacro:property name="support_length" value="0.15" /> <xacro:property name="support_radius" value="0.01" /> <xacro:property name="support_x" value="0.0" /> <xacro:property name="support_y" value="0.0" /> <xacro:property name="support_z" value="${base_link_length / 2 + support_length / 2}" /> <xacro:property name="support_m" value="0.02" /> <link name="support"><visual><geometry><cylinder radius="${support_radius}" length="${support_length}" /></geometry><origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /><material name="red"><color rgba="0.8 0.2 0.0 0.8" /></material></visual><collision><geometry><cylinder radius="${support_radius}" length="${support_length}" /></geometry><origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /></collision><xacro:cylinder_inertial_matrix m="${support_m}" r="${support_radius}" h="${support_length}" /></link><joint name="support2base_link" type="fixed"><parent link="base_link" /><child link="support" /><origin xyz="${support_x} ${support_y} ${support_z}" /></joint><gazebo reference="support"><material>Gazebo/White</material></gazebo><xacro:property name="laser_length" value="0.05" /> <xacro:property name="laser_radius" value="0.03" /> <xacro:property name="laser_x" value="0.0" /> <xacro:property name="laser_y" value="0.0" /> <xacro:property name="laser_z" value="${support_length / 2 + laser_length / 2}" /> <xacro:property name="laser_m" value="0.1" /> <link name="laser"><visual><geometry><cylinder radius="${laser_radius}" length="${laser_length}" /></geometry><origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /><material name="black" /></visual><collision><geometry><cylinder radius="${laser_radius}" length="${laser_length}" /></geometry><origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0" /></collision><xacro:cylinder_inertial_matrix m="${laser_m}" r="${laser_radius}" h="${laser_length}" /></link><joint name="laser2support" type="fixed"><parent link="support" /><child link="laser" /><origin xyz="${laser_x} ${laser_y} ${laser_z}" /></joint><gazebo reference="laser"><material>Gazebo/Black</material></gazebo>
</robot>

my_laser.urdf.xacro：

<robot name="my_car_camera" xmlns:xacro="http://wiki.ros.org/xacro"><xacro:include filename="gazebo_head.xacro" /><xacro:include filename="gazebo_car.xacro" /><xacro:include filename="gazebo_laser.xacro" /><xacro:include filename="gazebo_camera.xacro" />
</robot>

在launch文件夹下创建文件gazebo_car.launch，在gazebo_car.launch文件中编写：

<launch><param name="robot_description" command="$(find xacro)/xacro $(find urdf_gazebo)/urdf/xacro/gazebo_car_union.xacro" /><include file="$(find gazebo_ros)/launch/empty_world.launch" /><node pkg="gazebo_ros" type="spawn_model" name="model" args="-urdf -model mycar -param robot_description"  />
</launch>

orbslam2+kitti数据序列图像

一.下载

1、下载依赖

链接：https://gitcode.com/raulmur/ORB_SLAM2/overview?tab=readme-ov-file&utm_source=csdn_github_accelerator&isLogin=1

2.下载Pangolin

cd Pangolin
mkdir build && cd build
cmake ..
sudo make -j8

3.下载Ceres

sudo apt-get install  liblapack-dev libsuitesparse-dev libcxsparse3 libgflags-dev libgoogle-glog-dev libgtest-dev
cd ceres-solver
mkdir build && cd build
cmake ..
sudo make -j8
sudo make install

4.下载g2o

sudo apt-get install qt5-qmake qt5-default libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3
cd g2o
mkdir build && cd build
cmake ..
sudo make -j8
sudo make install

5.下载DBoW3

mkdir build
cd build/
cmake ..
make
sudo make install

二、安装编译ORB_SLAM2

1.下载ORB_SLAM2的安装包

2.配置环境

cd ~/catkin_ws/src/ORB_SLAM2
sudo chmod +x build.sh
./build.sh

3.使用ROS编译

sudo chmod +x build_ros.sh
./build_ros.sh

运行Kitee数据集

1.准备数据集

下载链接：https://www.cvlibs.net/datasets/kitti/eval_odometry.php

2.运行ORB_SLAM2

make -j8
sudo make install

4.下载g2o

sudo apt-get install qt5-qmake qt5-default libqglviewer-dev-qt5 libsuitesparse-dev libcxsparse3 libcholmod3
cd g2o
mkdir build && cd build
cmake …
sudo make -j8
sudo make install

5.下载DBoW3

mkdir build
cd build/
cmake …
make
sudo make install