首页下载资源操作系统ubuntu20.04-ROS noetic实现一个两轮差速移动机器人的仿真

ZIPubuntu20.04-ROS noetic实现一个两轮差速移动机器人的仿真

m0_560057294.78MB需要积分:1

资源文件列表:

urdf_rviz.zip 大约有35个文件
  1. urdf_rviz/
  2. urdf_rviz/package.xml 3.05KB
  3. urdf_rviz/CMakeLists.txt 6.92KB
  4. urdf_rviz/include/
  5. urdf_rviz/include/urdf_rviz/
  6. urdf_rviz/src/
  7. urdf_rviz/urdf/
  8. urdf_rviz/urdf/xacro/
  9. urdf_rviz/urdf/xacro/ROS01_helloworld.xacro 1.64KB
  10. urdf_rviz/urdf/xacro/ROS04_car_camera.xacro 1.51KB
  11. urdf_rviz/urdf/xacro/ROS02_field.xacro 847B
  12. urdf_rviz/urdf/xacro/ROS03_car_base.xacro 5.05KB
  13. urdf_rviz/urdf/xacro/ROS05_car_laser.xacro 2.16KB
  14. urdf_rviz/urdf/xacro/car.xacro 297B
  15. urdf_rviz/urdf/urdf/
  16. urdf_rviz/urdf/urdf/ROS05_test.urdf 5.76KB
  17. urdf_rviz/urdf/urdf/ROS01_helloworld.urdf 140B
  18. urdf_rviz/urdf/urdf/ROS02_link.urdf 938B
  19. urdf_rviz/urdf/urdf/ROS03_joint.urdf 1.11KB
  20. urdf_rviz/urdf/urdf/ROS04_base_footprint.urdf 1.93KB
  21. urdf_rviz/launch/
  22. urdf_rviz/launch/ROS01_helloworld.launch 272B
  23. urdf_rviz/launch/ROS05_test.launch 732B
  24. urdf_rviz/launch/ROS02_link.launch 266B
  25. urdf_rviz/launch/ROS03_joint.launch 720B
  26. urdf_rviz/launch/ROS04_base_footprint.launch 729B
  27. urdf_rviz/launch/ROS06_car_base.launch 596B
  28. urdf_rviz/launch/car_control.launch 895B
  29. urdf_rviz/launch/car.launch 584B
  30. urdf_rviz/config/
  31. urdf_rviz/config/show_mycar.rviz 7.38KB
  32. urdf_rviz/config/control.yaml 647B
  33. urdf_rviz/meshes/
  34. urdf_rviz/meshes/autolabor_mini.stl 2.01MB
  35. urdf_rviz/meshes/autolabor_pro1.stl 14.95MB

资源介绍:

使用Ubuntu20..04虚拟机在ROS-noetic环境下，利用URDF标签创建了一个两轮差速移动机器人模型，该机器人上包括摄像头、雷达等多传感器。最终使用xacro对代码进行优化。 食用方法： 1、新建工作空间； 2、将压缩包解压到工作空间； 3、对工作空间进行编译； 4、运行对应的launch文件。
cmake_minimum_required(VERSION 3.0.2) project(urdf_rviz) ## Compile as C++11, supported in ROS Kinetic and newer # add_compile_options(-std=c++11) ## Find catkin macros and libraries ## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz) ## is used, also find other catkin packages find_package(catkin REQUIRED COMPONENTS roscpp rospy std_msgs urdf xacro ) ## System dependencies are found with CMake's conventions # find_package(Boost REQUIRED COMPONENTS system) ## Uncomment this if the package has a setup.py. This macro ensures ## modules and global scripts declared therein get installed ## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html # catkin_python_setup() ################################################ ## Declare ROS messages, services and actions ## ################################################ ## To declare and build messages, services or actions from within this ## package, follow these steps: ## * Let MSG_DEP_SET be the set of packages whose message types you use in ## your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...). ## * In the file package.xml: ## * add a build_depend tag for "message_generation" ## * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET ## * If MSG_DEP_SET isn't empty the following dependency has been pulled in ## but can be declared for certainty nonetheless: ## * add a exec_depend tag for "message_runtime" ## * In this file (CMakeLists.txt): ## * add "message_generation" and every package in MSG_DEP_SET to ## find_package(catkin REQUIRED COMPONENTS ...) ## * add "message_runtime" and every package in MSG_DEP_SET to ## catkin_package(CATKIN_DEPENDS ...) ## * uncomment the add_*_files sections below as needed ## and list every .msg/.srv/.action file to be processed ## * uncomment the generate_messages entry below ## * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...) ## Generate messages in the 'msg' folder # add_message_files( # FILES # Message1.msg # Message2.msg # ) ## Generate services in the 'srv' folder # add_service_files( # FILES # Service1.srv # Service2.srv # ) ## Generate actions in the 'action' folder # add_action_files( # FILES # Action1.action # Action2.action # ) ## Generate added messages and services with any dependencies listed here # generate_messages( # DEPENDENCIES # std_msgs # ) ################################################ ## Declare ROS dynamic reconfigure parameters ## ################################################ ## To declare and build dynamic reconfigure parameters within this ## package, follow these steps: ## * In the file package.xml: ## * add a build_depend and a exec_depend tag for "dynamic_reconfigure" ## * In this file (CMakeLists.txt): ## * add "dynamic_reconfigure" to ## find_package(catkin REQUIRED COMPONENTS ...) ## * uncomment the "generate_dynamic_reconfigure_options" section below ## and list every .cfg file to be processed ## Generate dynamic reconfigure parameters in the 'cfg' folder # generate_dynamic_reconfigure_options( # cfg/DynReconf1.cfg # cfg/DynReconf2.cfg # ) ################################### ## catkin specific configuration ## ################################### ## The catkin_package macro generates cmake config files for your package ## Declare things to be passed to dependent projects ## INCLUDE_DIRS: uncomment this if your package contains header files ## LIBRARIES: libraries you create in this project that dependent projects also need ## CATKIN_DEPENDS: catkin_packages dependent projects also need ## DEPENDS: system dependencies of this project that dependent projects also need catkin_package( # INCLUDE_DIRS include # LIBRARIES urdf_rviz # CATKIN_DEPENDS roscpp rospy std_msgs urdf xacro # DEPENDS system_lib ) ########### ## Build ## ########### ## Specify additional locations of header files ## Your package locations should be listed before other locations include_directories( # include ${catkin_INCLUDE_DIRS} ) ## Declare a C++ library # add_library(${PROJECT_NAME} # src/${PROJECT_NAME}/urdf_rviz.cpp # ) ## Add cmake target dependencies of the library ## as an example, code may need to be generated before libraries ## either from message generation or dynamic reconfigure # add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) ## Declare a C++ executable ## With catkin_make all packages are built within a single CMake context ## The recommended prefix ensures that target names across packages don't collide # add_executable(${PROJECT_NAME}_node src/urdf_rviz_node.cpp) ## Rename C++ executable without prefix ## The above recommended prefix causes long target names, the following renames the ## target back to the shorter version for ease of user use ## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node" # set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "") ## Add cmake target dependencies of the executable ## same as for the library above # add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS}) ## Specify libraries to link a library or executable target against # target_link_libraries(${PROJECT_NAME}_node # ${catkin_LIBRARIES} # ) ############# ## Install ## ############# # all install targets should use catkin DESTINATION variables # See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html ## Mark executable scripts (Python etc.) for installation ## in contrast to setup.py, you can choose the destination # catkin_install_python(PROGRAMS # scripts/my_python_script # DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} # ) ## Mark executables for installation ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html # install(TARGETS ${PROJECT_NAME}_node # RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION} # ) ## Mark libraries for installation ## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html # install(TARGETS ${PROJECT_NAME} # ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} # LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION} # RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION} # ) ## Mark cpp header files for installation # install(DIRECTORY include/${PROJECT_NAME}/ # DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION} # FILES_MATCHING PATTERN "*.h" # PATTERN ".svn" EXCLUDE # ) ## Mark other files for installation (e.g. launch and bag files, etc.) # install(FILES # # myfile1 # # myfile2 # DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION} # ) ############# ## Testing ## ############# ## Add gtest based cpp test target and link libraries # catkin_add_gtest(${PROJECT_NAME}-test test/test_urdf_rviz.cpp) # if(TARGET ${PROJECT_NAME}-test) # target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME}) # endif() ## Add folders to be run by python nosetests # catkin_add_nosetests(test)
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