Rviz uses arbotix to control robot motion

demand

Control the robot model in rviz In circular motion

Implementation process

• install Arbotix
• Create a new feature pack , Prepare the robot urdf、xacro file
• add to Arbotix The configuration file
• To write launch File configuration Arbotix
• start-up launch Document and control the motion of the robot model

add to arbotix Required profile

stay urdf01_rviz config Add control.yaml file

#  This file is the controller configuration file , A robot model may have multiple controllers , such as :  chassis 、 Mechanical arm 、 Gripper ( manipulator )....
#  therefore , root  name  yes  controller
controllers: {
    
   #  Single controller settings 
   base_controller: {
    
          # type :  Differential controller 
       type: diff_controller,
       # Reference coordinates 
       base_frame_id: base_footprint, 
       # The distance between the two wheels 
       base_width: 0.2,
       # Control frequency 
       ticks_meter: 2000, 
       #PID Control parameter , Make the robot wheels reach the expected speed quickly 
       Kp: 12, 
       Kd: 12, 
       Ki: 0, 
       Ko: 50, 
       # Acceleration limit 
       accel_limit: 1.0 
    }
}

add to launch file demo07_control.launch

<launch>
    <!-- 1.  Load in the parameter server URDF  It is suggested to use the second way -->
    <!-- <param name = "robot_description" textfile = "$(find urdf01_rviz)/urdf/xacro/demo05_car_base.urdf" /> -->
    <param name = "robot_description" command = "$(find xacro)/xacro $(find urdf01_rviz)/urdf/xacro/car.urdf.xacro" />

    <!-- 2.  start-up rviz -->
    <node pkg = "rviz" type = "rviz" name = "rviz" args = "-d $(find urdf01_rviz)/config/show_mycar.rviz"/>

    <!-- 3.  Add joint status publishing node  -->
    <node pkg = "joint_state_publisher" type = "joint_state_publisher" name = "joint_state_publisher" />

    <!-- 4.  Add robot status publishing node  -->
    <node pkg = "robot_state_publisher" type = "robot_state_publisher" name = "robot_state_publisher" />

    <!--  Integrate  arbotix  Motion control node , And load parameters   The second sentence means using simulation simulator-->
    <node pkg = "arbotix_python" type = "arbotix_driver" name = "driver" output = "screen" >
        <rosparam command = "load" file = "$(find urdf01_rviz)/config/control.yaml" />
        <param name = "sim" value = "true" />
    </node>
</launch>

rostopic list

/clicked_point
/cmd_vel
/diagnostics
/initialpose
/joint_states
/move_base_simple/goal
/odom
/rosout
/rosout_agg
/tf
/tf_static

rostopic pub -r 10 /cmd_vel geometry_msgs/Twist “linear:
x: 1.0
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: 1.0”