【发布时间】：2023-01-08 00:08:49
【问题描述】：
我使用 SW2URDF 插件从 Solidworks 导入了一个 urdf 模型。该模型在 Gazebo 上正确加载但在 RVIZ 上看起来很奇怪，即使在尝试远程操作机器人时，机械手的旋转关节移动而不是轮子。有没有人以前遇到过这个问题或有解决方案？ 这是它在 Gazebo 上的样子
这是模型的 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: 1.6.0-1-g15f4949 Build Version: 1.6.7594.29634
For more information, please see http://wiki.ros.org/sw_urdf_exporter -->
<robot
name="final_assembly3">
<link name="world" />
<joint name="fixed" type="fixed">
<parent link="world" />
<child link="base_link" />
</joint>
<link
name="base_link">
<inertial>
<origin
xyz="0.14768 0.23303 0.22798"
rpy="0 0 0" />
<mass
value="7.6442" />
<inertia
ixx="0.075629"
ixy="3.85E-09"
ixz="-9.5343E-08"
iyy="0.14294"
iyz="1.6837E-11"
izz="0.081345" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="Wheel 1">
<inertial>
<origin
xyz="-3.2558E-07 1.0722E-07 0.030838"
rpy="0 0 0" />
<mass
value="0.5000" />
<inertia
ixx="0.00072916667"
ixy="0.0000000"
ixz="0.0000000"
iyy="0.000625"
iyz="0.0000000"
izz="0.00072916667" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 1.STL" />
</geometry>
<material
name="">
<color
rgba="0.89804 0.91765 0.92941 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 1.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Cont 1"
type="continuous">
<origin
xyz="-0.0034084 -0.12798 0.10053"
rpy="-1.5708 0 1.5708" />
<parent
link="base_link" />
<child
link="Wheel 1" />
<axis
xyz="0 0 1" />
</joint>
<link
name="Wheel 2">
<inertial>
<origin
xyz="-3.2557837015279E-07 1.07217308559227E-07 0.0308380289896838"
rpy="0 0 0" />
<mass
value="0.5000" />
<inertia
ixx="0.00072916667"
ixy="0.0000000"
ixz="0.0000000"
iyy="0.000625"
iyz="0.0000000"
izz="0.00072916667" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 2.STL" />
</geometry>
<material
name="">
<color
rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 2.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Cont 2"
type="continuous">
<origin
xyz="0.29877 -0.32798 0.10053"
rpy="1.5708 0 1.5708" />
<parent
link="base_link" />
<child
link="Wheel 2" />
<axis
xyz="0 0 1" />
</joint>
<link
name="Wheel 3">
<inertial>
<origin
xyz="-3.26336083100731E-07 1.07668861937249E-07 -0.0308380347831287"
rpy="0 0 0" />
<mass
value="0.5000" />
<inertia
ixx="0.00072916667"
ixy="0.0000000"
ixz="0.0000000"
iyy="0.000625"
iyz="0.0000000"
izz="0.00072916667" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 3.STL" />
</geometry>
<material
name="">
<color
rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 3.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Cont 3"
type="continuous">
<origin
xyz="-0.0034084 -0.32798 0.10053"
rpy="1.5708 0 1.5708" />
<parent
link="base_link" />
<child
link="Wheel 3" />
<axis
xyz="0 0 1" />
</joint>
<link
name="Wheel 4">
<inertial>
<origin
xyz="-3.26299866348911E-07 1.07652009542769E-07 0.0291707139063403"
rpy="0 0 0" />
<mass
value="0.5000" />
<inertia
ixx="0.00072916667"
ixy="0.0000000"
ixz="0.0000000"
iyy="0.000625"
iyz="0.0000000"
izz="0.00072916667" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 4.STL" />
</geometry>
<material
name="">
<color
rgba="0.898039215686275 0.917647058823529 0.929411764705882 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Wheel 4.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Cont 4"
type="continuous">
<origin
xyz="0.30046 -0.12798 0.10053"
rpy="1.5708 0.62487 1.5708" />
<parent
link="base_link" />
<child
link="Wheel 4" />
<axis
xyz="0 0 1" />
</joint>
<gazebo>
<plugin name="object_controller" filename="libgazebo_ros_planar_move.so">
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<odometryRate>50.0</odometryRate>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
</gazebo>
<link
name="New Static Link">
<inertial>
<origin
xyz="0.0172790917411035 0.102994908792773 -0.000286417787769305"
rpy="0 0 0" />
<mass
value="1.94401355435528" />
<inertia
ixx="0.00768941377852196"
ixy="-0.0023016367314421"
ixz="2.28881904576314E-05"
iyy="0.00450259485431559"
iyz="3.78227208152756E-05"
izz="0.0103483641272583" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/New Static Link.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/New Static Link.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Fixed"
type="fixed">
<origin
xyz="0.14768 -0.22798 0.33053"
rpy="1.5708 0 -1.581" />
<parent
link="base_link" />
<child
link="New Static Link" />
<axis
xyz="0 1 0" />
</joint>
<link
name="Arm">
<inertial>
<origin
xyz="0.13229755761114 -0.000278839398755615 -0.0323012411261709"
rpy="0 0 0" />
<mass
value="1.80462691606488" />
<inertia
ixx="0.00337104522287667"
ixy="2.3173417802539E-05"
ixz="-0.000161183912931026"
iyy="0.0199987994056373"
iyz="-1.64319461670501E-06"
izz="0.0222082055539029" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Arm.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Arm.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Rev1"
type="revolute">
<origin
xyz="0.06 0.18 -0.030782"
rpy="0 0 0.18829" />
<parent
link="New Static Link" />
<child
link="Arm" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="Pris 1">
<inertial>
<origin
xyz="0.0335816493728636 1.71749397870347E-07 0.0119354658625156"
rpy="0 0 0" />
<mass
value="0.123182781546625" />
<inertia
ixx="3.77360992389157E-05"
ixy="1.28183032967861E-11"
ixz="-5.81374538385023E-06"
iyy="0.000122947375330809"
iyz="2.65123689114698E-10"
izz="0.000144337931781889" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Pris 1.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Pris 1.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Pris 1"
type="revolute">
<origin
xyz="0.1 0 -0.063391"
rpy="3.1416 0 -1.9477" />
<parent
link="Arm" />
<child
link="Pris 1" />
<axis
xyz="0 0 1" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="Pris 2">
<inertial>
<origin
xyz="1.8466057571942E-09 -5.55111512312578E-17 0.01"
rpy="0 0 0" />
<mass
value="0.260668670250234" />
<inertia
ixx="7.94869252643328E-05"
ixy="-2.07014852308951E-18"
ixz="2.73993982613085E-18"
iyy="0.00115947637560852"
iyz="1.99348984198689E-09"
izz="0.00122317832768109" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Pris 2.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Pris 2.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Pris 2"
type="revolute">
<origin
xyz="-0.0014893 -0.078861 0.020827"
rpy="0 0 0.90855" />
<parent
link="Pris 1" />
<child
link="Pris 2" />
<axis
xyz="0 0 0" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="Pris 3">
<inertial>
<origin
xyz="-0.166565243027124 0.000967072198009372 0.0300000329001753"
rpy="0 0 0" />
<mass
value="0.449710314809642" />
<inertia
ixx="0.00137456804218307"
ixy="-4.43060167581936E-05"
ixz="9.82391747567394E-10"
iyy="0.002208699287522"
iyz="-1.54947639651244E-09"
izz="0.00315643719811711" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Pris 3.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://final_assembly3/meshes/Pris 3.STL" />
</geometry>
</collision>
<gravity>0</gravity>
</link>
<joint
name="Pris 3"
type="prismatic">
<origin
xyz="0.20514 0.030503 -0.039218"
rpy="-1.5708 0 3.1416" />
<parent
link="Arm" />
<child
link="Pris 3" />
<axis
xyz="1 0 0" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
</robot>
ROS版本：ROS Melodic
Ubuntu 18.04
【问题讨论】：
-
你好 Nidhi，你能在观察问题的同时将 URDF 减少到最少的链接和关节数吗？
-
另外，我意识到
map和world之间没有发布帧转换。您是否尝试在 RViz 的全局选项中将框架world设置为固定框架？或者，发布world和map之间的转换（以地图为父级）。我认为，这是解决您的问题的方法。 -
谢谢，它几乎解决了问题，我现在面临的唯一问题是其中一个链接显示没有从 [Part to world] 转换
-
您还可以提供此特定消息的屏幕截图吗？我很困惑，因为 URDF 中没有
Part或Part to world框架。 -
该部分是 Pris 2，我所说的部分是指机器人中的一个链接。很抱歉对于这个误会。
标签： ros robotics gazebo-simu