Xacro模型的使用
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Xacro的使用
realsense_ros_gazebo里提供的.xacro就是个大套娃，为了提取最关键最重要的部分进行urdf/sdf转换，需要将文件进行重构，具体来说就是将xacro中的描述性代码复制到urdf中，随后进行xacro->urdf->sdf的转换
1 xacro转urdf (1) 利用cd命令切换到 xxx.acro 目录下 (2) 执行下面命令即可
rosrun xacro xacro xxx.xacro > xxx.urdf
2 urdf转sdf (1) 利用cd命令切换到 xxx.urdf 目录下 (2) 执行下面命令即可
gz sdf -p xxx.urdf > xxx.sdf
修改实例如下：
修改前：
<?xml version="1.0"?>
<robot name="test_model" xmlns:xacro="http://www.ros.org/wiki/xacro">
<xacro:include filename="$(find realsense_ros_gazebo)/xacro/tracker.xacro"/>
<xacro:include filename="$(find realsense_ros_gazebo)/xacro/depthcam.xacro"/>
<link name="base_footprint"/>
<joint name="footprint_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="base_link">
<visual>
<origin rpy="0 0 0 " xyz="0 0 0.005"/>
<geometry>
<box size="0.4 0.4 0.01"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0 " xyz="0 0 0.005"/>
<geometry>
<box size="0.4 0.4 0.01"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0 " xyz="0 0 0.005"/>
<geometry>
<box size="0.4 0.4 0.01"/>
</geometry>
<mass value="100"/>
<inertia ixx="1.0265" ixy="0" ixz="0" iyy="1.3944999999999999" iyz="0" izz="2.1320000000000001"/>
</inertial>
</link>
<!-- TEST -->
<!-- <xacro:realsense_d435 sensor_name="d435" parent_link="base_link" rate="10">
<origin rpy="0 0 0 " xyz="0 0 0.5"/>
</xacro:realsense_d435>-->
<xacro:realsense_T265 sensor_name="camera" parent_link="base_link" rate="30.0">
<origin rpy="0 0 0" xyz="0 0 0.5"/>
</xacro:realsense_T265>
<!-- <xacro:realsense_R200 sensor_name="camera" parent_link="base_link" rate="30.0">
<origin rpy="0 0 0" xyz="0 0 0.5"/>
</xacro:realsense_R200> -->
</robot>
修改后：
<?xml version="1.0"?>
<robot name="t265" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- T265 Fisheye:-->
<xacro:macro name="T265_fisheye" params="sensor_name reference_frame topic rate">
<gazebo reference="${reference_frame}">
<sensor name="camera" type="wideanglecamera">
<camera>
<horizontal_fov>6.283</horizontal_fov>
<image>
<width>800</width>
<height>848</height>
</image>
<clip>
<near>0.1</near>
<far>100</far>
</clip>
<lens>
<type>custom</type>
<custom_function>
<c1>1.05</c1>
<c2>4</c2>
<f>1.0</f>
<fun>tan</fun>
</custom_function>
<scale_to_hfov>true</scale_to_hfov>
<cutoff_angle>3.1415</cutoff_angle>
<env_texture_size>512</env_texture_size>
</lens>
<always_on>true</always_on>
<update_rate>30</update_rate>
</camera>
<plugin name="camera_controller" filename="libgazebo_ros_camera.so">
<alwaysOn>true</alwaysOn>
<updateRate>${rate}</updateRate>
<cameraName>${sensor_name}/${topic}</cameraName>
<imageTopicName>image_raw</imageTopicName>
<cameraInfoTopicName>camera_info</cameraInfoTopicName>
<frameName>${reference_frame}</frameName>
<hackBaseline>0.07</hackBaseline>
<distortionK1>-0.007419134024530649</distortionK1>
<distortionK2>0.041209351271390915</distortionK2>
<distortionK3>-0.03811917081475258</distortionK3>
<distortionT1>0.006366158835589886</distortionT1>
<distortionT2>0.0</distortionT2>
<CxPrime>416.00531005859375</CxPrime>
<Cx>16.00531005859375</Cx>
<Cy>403.38909912109375</Cy>
</plugin>
</sensor>
</gazebo>
</xacro:macro>
<!-- INTEL REALSENSE T265 -->
<xacro:macro name="realsense_T265" params="sensor_name parent_link rate *origin">
<joint name="${sensor_name}_odom_frame_joint" type="fixed">
<parent link="${parent_link}"/>
<child link="${sensor_name}_odom_frame"/>
<xacro:insert_block name="origin"/>
</joint>
<joint name="${sensor_name}_pose_frame_joint" type="fixed">
<parent link="${sensor_name}_odom_frame"/>
<child link="${sensor_name}_pose_frame"/>
<origin rpy="0 0 0" xyz="0 0 0"/> <!-- check on real hw -->
</joint>
<link name="${sensor_name}_odom_frame"/>
<link name="${sensor_name}_pose_frame">
<visual>
<origin rpy="1.57 0 1.57" xyz="0 0 0"/>
<geometry>
<mesh filename="package://realsense_ros_gazebo/meshes/realsense_t265.stl" scale="0.001 0.001 0.001"/>
</geometry>
</visual>
<collision>
<geometry>
<box size="0.013 0.108 0.024"/>
</geometry>
</collision>
<inertial>
<mass value="0.055"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
<inertia ixx="9.108e-05"
ixy="0"
ixz="0"
iyy="2.51e-06"
iyz="0"
izz="8.931e-05"/>
</inertial>
</link>
<joint name="${sensor_name}_joint" type="fixed">
<parent link="${sensor_name}_pose_frame"/>
<child link="${sensor_name}_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/> <!-- check on real hw -->
</joint>
<link name="${sensor_name}_link"/>
<joint name="${sensor_name}_fisheye1_joint" type="fixed">
<parent link="${sensor_name}_link"/>
<child link="${sensor_name}_fisheye1_frame"/>
<origin rpy="0 0 0" xyz="0 0.042 0"/>
</joint>
<link name="${sensor_name}_fisheye1_frame"/>
<joint name="${sensor_name}_fisheye1_optical_joint" type="fixed">
<parent link="${sensor_name}_fisheye1_frame"/>
<child link="${sensor_name}_fisheye1_optical_frame"/>
<origin rpy="0 0 0" xyz="0.01 0 0"/>
</joint>
<link name="${sensor_name}_fisheye1_optical_frame"/>
<xacro:T265_fisheye
sensor_name="${sensor_name}"
reference_frame="${sensor_name}_fisheye1_optical_frame"
topic="fisheye1"
rate="${rate}">
</xacro:T265_fisheye>
<joint name="${sensor_name}_fisheye2_joint" type="fixed">
<parent link="${sensor_name}_link"/>
<child link="${sensor_name}_fisheye2_frame"/>
<origin rpy="0 0 0" xyz="0 -0.022 0"/>
</joint>
<link name="${sensor_name}_fisheye2_frame"/>
<joint name="${sensor_name}_fisheye2_optical_joint" type="fixed">
<parent link="${sensor_name}_fisheye2_frame"/>
<child link="${sensor_name}_fisheye2_optical_frame"/>
<origin rpy="0 0 0" xyz="0.01 0 0"/>
</joint>
<link name="${sensor_name}_fisheye2_optical_frame"/>
<xacro:T265_fisheye
sensor_name="${sensor_name}"
reference_frame="${sensor_name}_fisheye2_optical_frame"
topic="fisheye2"
rate="${rate}">
</xacro:T265_fisheye>
<joint name="${sensor_name}_gyro_joint" type="fixed">
<parent link="${sensor_name}_link"/>
<child link="${sensor_name}_gyro_frame"/>
<origin rpy="0 0 0" xyz="0 0 0"/> <!-- check on real hw -->
</joint>
<link name="${sensor_name}_gyro_frame"/>
<gazebo reference="${sensor_name}_gyro_frame">
<gravity>true</gravity>
<sensor name="${sensor_name}_imu" type="imu">
<always_on>true</always_on>
<update_rate>${rate}</update_rate>
<visualize>false</visualize>
<plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
<topicName>${sensor_name}/gyro/sample</topicName>
<bodyName>${sensor_name}_pose_frame</bodyName>
<updateRateHZ>${rate}</updateRateHZ>
<gaussianNoise>0.000001</gaussianNoise>
<xyzOffset>0 0 0</xyzOffset>
<rpyOffset>0 0 0</rpyOffset>
<frameName>${sensor_name}_link</frameName>
</plugin>
</sensor>
</gazebo>
<joint name="${sensor_name}_accel_joint" type="fixed">
<parent link="${sensor_name}_link"/>
<child link="${sensor_name}_accel_frame"/>
<origin rpy="0 0 0" xyz="0 0 0"/> <!-- check on real hw -->
</joint>
<link name="${sensor_name}_accel_frame"/> <!-- dummy -->
<gazebo> <!-- odometry -->
<plugin name="p3d_base_controller" filename="libgazebo_ros_p3d.so">
<alwaysOn>true</alwaysOn>
<updateRate>${rate}</updateRate>
<bodyName>${sensor_name}_odom_frame</bodyName>
<topicName>${sensor_name}/odom/sample</topicName>
<gaussianNoise>0.001</gaussianNoise>
<frameName>world</frameName>
<xyzOffsets>0 0 0</xyzOffsets>
<rpyOffsets>0 0 0</rpyOffsets>
</plugin>
</gazebo>
</xacro:macro>
<link name="base_footprint"/>
<joint name="footprint_joint" type="fixed">
<parent link="base_footprint"/>
<child link="base_link"/>
<origin rpy="0 0 0" xyz="0 0 0"/>
</joint>
<link name="base_link">
</link>
<xacro:realsense_T265 sensor_name="camera" parent_link="base_link" rate="30.0">
<origin rpy="0 0 0" xyz="0 0 0.5"/>
</xacro:realsense_T265>
</robot>