gazebo_plugins.md 7.7 KB
Gazebo常用插件
1.雷达
详细介绍及文章： 9.5给机器人添加激光传感器
<gazebo reference="laser_link">
<sensor name="laser_sensor" type="ray">
<always_on>true</always_on>
<visualize>true</visualize>
<update_rate>5</update_rate>
<pose>0 0 0.075 0 0 0</pose>
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1.000000</resolution>
<min_angle>0.000000</min_angle>
<max_angle>6.280000</max_angle>
</horizontal>
</scan>
<range>
<min>0.120000</min>
<max>3.5</max>
<resolution>0.015000</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="laserscan" filename="libgazebo_ros_ray_sensor.so">
<ros>
<remapping>~/out:=scan</remapping>
</ros>
<output_type>sensor_msgs/LaserScan</output_type>
<frame_name>laser_link</frame_name>
</plugin>
</sensor>
</gazebo>
2.IMU
详细介绍及文章： 9.4为FishBot添加IMU传感器.md
<gazebo reference="imu_link">
<sensor name="imu_sensor" type="imu">
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<ros>
<namespace>/</namespace>
<remapping>~/out:=imu</remapping>
</ros>
<initial_orientation_as_reference>false</initial_orientation_as_reference>
</plugin>
<always_on>true</always_on>
<update_rate>100</update_rate>
<visualize>true</visualize>
<imu>
<angular_velocity>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>2e-4</stddev>
<bias_mean>0.0000075</bias_mean>
<bias_stddev>0.0000008</bias_stddev>
</noise>
</z>
</angular_velocity>
<linear_acceleration>
<x>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</x>
<y>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</y>
<z>
<noise type="gaussian">
<mean>0.0</mean>
<stddev>1.7e-2</stddev>
<bias_mean>0.1</bias_mean>
<bias_stddev>0.001</bias_stddev>
</noise>
</z>
</linear_acceleration>
</imu>
</sensor>
</gazebo>
3.超声波
详细介绍及文章： 9.6拓展-为Fishbot添加超声波传感器.md
<gazebo reference="ultrasonic_sensor_link">
<sensor type="ray" name="ultrasonic_sensor">
<pose>0 0 0 0 0 0</pose>
<!-- 是否可视化，gazebo里能不能看到 -->
<visualize>true</visualize>
<!-- 扫描速率，也就是数据更新速率 -->
<update_rate>5</update_rate>
<ray>
<scan>
<!-- 水平扫描的点数 -->
<horizontal>
<samples>5</samples>
<resolution>1</resolution>
<min_angle>-0.12</min_angle>
<max_angle>0.12</max_angle>
</horizontal>
<!-- 垂直方向扫描的点数 -->
<vertical>
<samples>5</samples>
<resolution>1</resolution>
<min_angle>-0.01</min_angle>
<max_angle>0.01</max_angle>
</vertical>
</scan>
<!-- 超声波检测的范围和数据分辨率单位m -->
<range>
<min>0.02</min>
<max>4</max>
<resolution>0.01</resolution>
</range>
<!-- 数据噪声采用高斯噪声 -->
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin name="ultrasonic_sensor_controller" filename="libgazebo_ros_ray_sensor.so">
<ros>
<!-- 重映射输出的话题名称 -->
<remapping>~/out:=ultrasonic_sensor_1</remapping>
</ros>
<!-- 输出消息的类型，注意与雷达区分，这里是sensor_msgs/Range -->
<output_type>sensor_msgs/Range</output_type>
<!-- 射线类型，这里要写ultrasound，注意和雷达区分 -->
<radiation_type>ultrasound</radiation_type>
<!-- frame名称，填写link名称即可 -->
<frame_name>ultrasonic_sensor_link</frame_name>
</plugin>
</sensor>
</gazebo>
4.两轮差速
详细介绍及文章： 9.3为FishBot配置两轮差速控制插件.md
<gazebo>
<plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
<ros>
<namespace>/</namespace>
<remapping>cmd_vel:=cmd_vel</remapping>
<remapping>odom:=odom</remapping>
</ros>
<update_rate>30</update_rate>
<!-- wheels -->
<left_joint>left_wheel_joint</left_joint>
<right_joint>right_wheel_joint</right_joint>
<!-- kinematics -->
<wheel_separation>0.2</wheel_separation>
<wheel_diameter>0.065</wheel_diameter>
<!-- limits -->
<max_wheel_torque>20</max_wheel_torque>
<max_wheel_acceleration>1.0</max_wheel_acceleration>
<!-- output -->
<publish_odom>true</publish_odom>
<publish_odom_tf>true</publish_odom_tf>
<publish_wheel_tf>true</publish_wheel_tf>
<odometry_frame>odom</odometry_frame>
<robot_base_frame>base_footprint</robot_base_frame>
</plugin>
</gazebo>
5.JointStatePublisher
待补充
6.单目相机
<gazebo reference="camera_link">
<sensor type="camera" name="camera">
<update_rate>30.0</update_rate>
<camera name="head">
<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>0.0</updateRate>
<cameraName>/camera</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>camera_link</frameName>
<hackBaseline>0.07</hackBaseline>
</plugin>
</sensor>
<material>Gazebo/Blue</material>
</gazebo>
7.深度相机
待补充