Hello,
I am trying to create costume robot. I have been trying to follow this tutorial. www.romin.upm.es/wiki/index.php?title=ROS%3ATutorials/Build_Your_Own_URDF_Robot
I can get the robot up in Gazebo and move it with my controller but I cannnot get it to move in Rviz. My goal is to use the navigation stack to create paths for the robot to follow. (if someone know a way to do this with out Rviz I am all for it) I am controlling it with joystick inputs and have independently controlled wheels(balls).
Thank you for any help. I have spent so many hours on this.
Here is my Xacro description file and launch file.
omnishot.urdf.xacro
<!-- Included URDF/XACRO Files -->
<xacro:include filename="$(find omni_shot)/urdf/materials.urdf.xacro" />
<xacro:include filename="$(find omni_shot)/urdf/ball.urdf.xacro" />
<!-- PROPERTY LIST -->
<!--All units in m-kg-s-radians unit system -->
<property name="M_PI" value="3.1415926535897931" />
<!-- Main Body-base -->
<property name="base_size" value=".84" />
<property name="base_height" value="0.66" />
<property name="leg" value="0.3" />
<property name="base_mass" value="300" /> <!-- in kg-->
<property name="M_SCALE" value="1" />
<!--Inertial macros for the box and cylinder. Units are kg*m^2-->
<macro name="box_inertia" params="m x y z">
<inertia ixx="${m*(y*y+z*z)/12}" ixy = "0" ixz = "0"
iyy="${m*(x*x+z*z)/12}" iyz = "0"
izz="${m*(x*x+z*z)/12}" />
</macro>
<!-- BASE-FOOTPRINT -->
<!-- base_footprint is a fictitious link(frame) that is on the ground right below base_link origin -->
<link name="odom">
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="0.001 0.001 0.001" />
</geometry>
</visual>
</link>
<gazebo reference="base_footprint">
<turnGravityOff>false</turnGravityOff>
</gazebo>
<joint name="base_footprint_joint" type="fixed">
<origin xyz="0 0 ${ball_radius - base_z_origin_to_ball_origin}" rpy="0 0 0" />
<parent link="odom"/>
<child link="base_link" />
</joint>
<!-- BASE-LINK -->
<!--Actual body/chassis of the robot-->
<link name="base_link">
<inertial>
<mass value="${base_mass}" />
<origin xyz="0 0 0" />
<!--The 3x3 rotational inertia matrix. -->
<box_inertia m="${base_mass}" x="${base_size}" y="${base_size}" z="${base_height}"/>
</inertial>
<visual>
<origin xyz="0 0 .38" rpy="0 0 0" />
<geometry>
<mesh filename="file:///home/nathaniel/Documents/Omnibot/code/catkin_ws/src/omni_shot/models/omniShotFlip.stl" scale="${M_SCALE} ${M_SCALE} ${M_SCALE}"/>
</geometry>
<material name="Yellow" />
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<geometry>
<box size="${base_size} ${base_size} ${base_height}"/>
</geometry>
</collision>
</link>
<gazebo reference="base_link">
<material>Gazebo/Yellow</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<!-- WHEELs -->
<ball name="m1" parent="base_link" x="0" y="${leg}" move="0"/>
<ball name="m2" parent="base_link" x="${-leg}" y="0" move="1"/>
<ball name="m3" parent="base_link" x="0" y="${-leg}" move="0"/>
<ball name="m4" parent="base_link" x="${leg}" y="0" move="1"/>
<gazebo>
<plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
<robotNamespace>/mybot</robotNamespace>
<robotBaseFrame>base_footprint</robotBaseFrame>
<commandTopic>cmd_vel</commandTopic>
<odometryTopic>odom</odometryTopic>
<odometryFrame>odom</odometryFrame>
<odometryRate>20.0</odometryRate>
</plugin>
</gazebo>
</robot>
ball.urdf.xacro
<?xml version="1.0"?>
<robot name="ball" xmlns:xacro="http://www.ros.org/wiki/xacro">
<!-- balls -->
<property name="ball_radius" value="0.121285" />
<property name="ball_mass" value="0.625" /> <!-- in kg-->
<property name="base_x_origin_to_ball_origin" value="0.25" />
<property name="base_y_origin_to_ball_origin" value="0.3" />
<property name="base_z_origin_to_ball_origin" value="0.0" />
<macro name="sphere_inertia" params="m r">
<inertia ixx="${(2*m*r*r)/5}" ixy = "0" ixz = "0"
iyy="${(2*m*r*r)/5}" iyz = "0"
izz="${(2*m*r*r)/5}" />
</macro>
<xacro:macro name="ball" params="name parent x y move"> <!--fb : front, back ; lr: left, right -->
<link name="${name}_ball">
<collision>
<origin xyz="0 0 0" rpy="${(M_PI/2)} 0 0" />
<geometry>
<sphere radius="${ball_radius}" />
</geometry>
</collision>
<inertial>
<mass value="${ball_mass}" />
<origin xyz="0 0 0" />
<sphere_inertia m="${ball_mass}" r="${ball_radius}" />
</inertial>
</link>
<gazebo reference="${name}_ball">
<mu1 value="1000.0"/>
<mu2 value="0.1"/>
<kp value="10000000.0" />
<kd value="1.0" />
<fdir1 value="1 0 0"/>
<material>Gazebo/Grey</material>
<turnGravityOff>false</turnGravityOff>
</gazebo>
<joint name="${name}_ball_joint" type="continuous">
<parent link="${parent}"/>
<child link="${name}_ball"/>
<origin xyz="${x} ${y} -0.25" rpy="0 0 ${move*(M_PI/2)}" />
<axis xyz="0 1 0" rpy="0 0 0" />
<limit effort="100" velocity="100"/>
<joint_properties damping="1.0" friction="1.0"/>
</joint>
<!-- Transmission is important to link the joints and the controller -->
<transmission name="${name}_ball_joint_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="${name}_ball_joint">
<hardwareInterface>EffortJointInterface</hardwareInterface>
</joint>
<actuator name="${name}_ball_joint_motor">
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
</robot>
<!-- We resume the logic in empty_world.launch, changing only the name of
the world to be launched -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="worlds/empty.world" />
<arg name="paused" value="$(arg paused)" />
<arg name="debug" value="$(arg debug)" />
<arg name="gui" value="$(arg gui)" />
<arg name="use_sim_time" value="true" />
<arg name="headless" value="false" />
</include>
<!-- urdf xml robot description loaded on the Parameter Server-->
<param name="robot_description" command="$(find xacro)/xacro.py '$(find omni_shot)/urdf/omnishot.urdf.xacro'" />
<!-- push robot_description to factory and spawn robot in gazebo -->
<node name="labrob_spawn" pkg="gazebo_ros" type="spawn_model" output="screen"
args="-urdf -param robot_description -model omnishot" />
<node name="rviz" pkg="rviz" type="rviz" required="true" />
<!-- Load joint controller configurations from YAML file to parameter server -->
<rosparam file="$(find omni_shot)/config/config.yaml" command="load" />
<!-- load the controllers -->
<node name="controller_spawner" pkg="controller_manager" type="spawner" output="screen" respawn="false" ns="/mybot" args="joint_state_controller
m1_effort_controller
m2_effort_controller
m3_effort_controller
m4_effort_controller" />
<node name="simMotors" pkg="omni_shot" type="simVel.py"/>
<node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen">
<remap from="/joint_states" to="/mybot/joint_states" />
</node>
</launch>
Originally posted by ngoldfarb on ROS Answers with karma: 127 on 2016-01-05
Post score: 0
Original comments
Comment by gleb on 2016-09-05:
Hey ngoldfarb,
were you able to solve your problem? I'm facing the same problem at the moment... My robot is moving in gazebo, but it is staying at the initial pose in rviz, so that I am not able to create a map