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Interesting practice of robot programming 14 robot 3D simulation (gazebo+turtlebot3)

2022-07-05 01:28:00 【zhangrelay】

Before , Introduces the node 、 The theme 、 Basic concepts of service and action , as well as rqt and rosbag2 Tools such as .

Using the official version of the two-dimensional environment , Now let's play with a more realistic 3D simulation environment .

Simulation software Gazebo
robot TurtleBot3

Interesting practice of robot programming 14- 3D simulation of robot （Gazebo+TurtleBot3）_ Interesting practice

TurtleBot3 Support simulation development environment , It can be programmed and developed with virtual robot in simulation . There are two development environments that can do this , One is to use a device with 3D Visualization tools RViz False nodes of , The other is to use 3D Robot simulator Gazebo.

Pseudo nodes are suitable for testing with robot models and motions , But it doesn't support sensors .
If it is necessary to carry out SLAM Or navigation ,Gazebo It's going to be a viable solution , Because it supports IMU、LDS And cameras and other sensors .

Environment configuration

       
        # TURTLEBOT3_MODEL
        
export GAZEBO_MODEL_PATH=$GAZEBO_MODEL_PATH:/home/zhangrelay/RobSoft/turtlebot3/src/simulations/turtlebot3_gazebo/models
        
export TURTLEBOT3_MODEL=burger
        

        
# ROS2
        
source /opt/ros/foxy/setup.bash
        

        
#colcon
        
source /usr/share/colcon_cd/function/colcon_cd.sh
       
       
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Source code compilation

have access to deb Direct installation ：

sudo apt install ros-foxy-turtlebot3-gazebo

Pay attention to the whole bag .

here , Use source code to compile as follows ：

colcon build

Interesting practice of robot programming 14- 3D simulation of robot （Gazebo+TurtleBot3）_Gazebo_02

The list of feature packs is shown above .

Simulation practice

1 Startup environment

ros2 launch turtlebot3_gazebo empty_world.launch.py

Interesting practice of robot programming 14- 3D simulation of robot （Gazebo+TurtleBot3）_TurtleBot3_03

The blue ray is the visualization of the laser .

empty_world.launch The code is as follows ：

       
        import os
        

        
from ament_index_python.packages import get_package_share_directory
        
from launch import LaunchDescription
        
from launch.actions import ExecuteProcess
        
from launch.actions import IncludeLaunchDescription
        
from launch.launch_description_sources import PythonLaunchDescriptionSource
        
from launch.substitutions import LaunchConfiguration
        

        
TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
        

        

        
def generate_launch_description():
        
    use_sim_time = LaunchConfiguration('use_sim_time', default='True')
        
    world_file_name = 'empty_worlds/' + TURTLEBOT3_MODEL + '.model'
        
    world = os.path.join(get_package_share_directory('turtlebot3_gazebo'),
        
                         'worlds', world_file_name)
        
    launch_file_dir = os.path.join(get_package_share_directory('turtlebot3_gazebo'), 'launch')
        
    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
        

        
    return LaunchDescription([
        
        IncludeLaunchDescription(
        
            PythonLaunchDescriptionSource(
        
                os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')
        
            ),
        
            launch_arguments={'world': world}.items(),
        
        ),
        

        
        IncludeLaunchDescription(
        
            PythonLaunchDescriptionSource(
        
                os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')
        
            ),
        
        ),
        

        
        ExecuteProcess(
        
            cmd=['ros2', 'param', 'set', '/gazebo', 'use_sim_time', use_sim_time],
        
            output='screen'),
        

        
        IncludeLaunchDescription(
        
            PythonLaunchDescriptionSource([launch_file_dir, '/robot_state_publisher.launch.py']),
        
            launch_arguments={'use_sim_time': use_sim_time}.items(),
        
        ),
        
    ])
       
       
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2 Circular motion

Before and before the circular motion of two-dimensional environment instructions are very similar .

ros2 topic pub --rate 2 /cmd_vel geometry_msgs/msg/Twist "{linear: {x: 1.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.8}}"

Interesting practice of robot programming 14- 3D simulation of robot （Gazebo+TurtleBot3）_ Robot programming _04

3 Keyboard remote control

Use the following command to start the keyboard remote control ：

ros2 run turtlebot3_teleop teleop_keyboard

Interesting practice of robot programming 14- 3D simulation of robot （Gazebo+TurtleBot3）_Gazebo_05

The keyboard remote control code is as follows ：

       
        import os
        
import select
        
import sys
        
import rclpy
        

        
from geometry_msgs.msg import Twist
        
from rclpy.qos import QoSProfile
        

        
if os.name == 'nt':
        
    import msvcrt
        
else:
        
    import termios
        
    import tty
        

        
BURGER_MAX_LIN_VEL = 0.22
        
BURGER_MAX_ANG_VEL = 2.84
        

        
WAFFLE_MAX_LIN_VEL = 0.26
        
WAFFLE_MAX_ANG_VEL = 1.82
        

        
LIN_VEL_STEP_SIZE = 0.01
        
ANG_VEL_STEP_SIZE = 0.1
        

        
TURTLEBOT3_MODEL = os.environ['TURTLEBOT3_MODEL']
        

        
msg = """
        
Control Your TurtleBot3!
        
---------------------------
        
Moving around:
        
        w
        
   a    s    d
        
        x
        

        
w/x : increase/decrease linear velocity (Burger : ~ 0.22, Waffle and Waffle Pi : ~ 0.26)
        
a/d : increase/decrease angular velocity (Burger : ~ 2.84, Waffle and Waffle Pi : ~ 1.82)
        

        
space key, s : force stop
        

        
CTRL-C to quit
        
"""
        

        
e = """
        
Communications Failed
        
"""
        

        

        
def get_key(settings):
        
    if os.name == 'nt':
        
        return msvcrt.getch().decode('utf-8')
        
    tty.setraw(sys.stdin.fileno())
        
    rlist, _, _ = select.select([sys.stdin], [], [], 0.1)
        
    if rlist:
        
        key = sys.stdin.read(1)
        
    else:
        
        key = ''
        

        
    termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
        
    return key
        

        

        
def print_vels(target_linear_velocity, target_angular_velocity):
        
    print('currently:\tlinear velocity {0}\t angular velocity {1} '.format(
        
        target_linear_velocity,
        
        target_angular_velocity))
        

        

        
def make_simple_profile(output, input, slop):
        
    if input > output:
        
        output = min(input, output + slop)
        
    elif input < output:
        
        output = max(input, output - slop)
        
    else:
        
        output = input
        

        
    return output
        

        

        
def constrain(input_vel, low_bound, high_bound):
        
    if input_vel < low_bound:
        
        input_vel = low_bound
        
    elif input_vel > high_bound:
        
        input_vel = high_bound
        
    else:
        
        input_vel = input_vel
        

        
    return input_vel
        

        

        
def check_linear_limit_velocity(velocity):
        
    if TURTLEBOT3_MODEL == 'burger':
        
        return constrain(velocity, -BURGER_MAX_LIN_VEL, BURGER_MAX_LIN_VEL)
        
    else:
        
        return constrain(velocity, -WAFFLE_MAX_LIN_VEL, WAFFLE_MAX_LIN_VEL)
        

        

        
def check_angular_limit_velocity(velocity):
        
    if TURTLEBOT3_MODEL == 'burger':
        
        return constrain(velocity, -BURGER_MAX_ANG_VEL, BURGER_MAX_ANG_VEL)
        
    else:
        
        return constrain(velocity, -WAFFLE_MAX_ANG_VEL, WAFFLE_MAX_ANG_VEL)
        

        

        
def main():
        
    settings = None
        
    if os.name != 'nt':
        
        settings = termios.tcgetattr(sys.stdin)
        

        
    rclpy.init()
        

        
    qos = QoSProfile(depth=10)
        
    node = rclpy.create_node('teleop_keyboard')
        
    pub = node.create_publisher(Twist, 'cmd_vel', qos)
        

        
    status = 0
        
    target_linear_velocity = 0.0
        
    target_angular_velocity = 0.0
        
    control_linear_velocity = 0.0
        
    control_angular_velocity = 0.0
        

        
    try:
        
        print(msg)
        
        while(1):
        
            key = get_key(settings)
        
            if key == 'w':
        
                target_linear_velocity =\
        
                    check_linear_limit_velocity(target_linear_velocity + LIN_VEL_STEP_SIZE)
        
                status = status + 1
        
                print_vels(target_linear_velocity, target_angular_velocity)
        
            elif key == 'x':
        
                target_linear_velocity =\
        
                    check_linear_limit_velocity(target_linear_velocity - LIN_VEL_STEP_SIZE)
        
                status = status + 1
        
                print_vels(target_linear_velocity, target_angular_velocity)
        
            elif key == 'a':
        
                target_angular_velocity =\
        
                    check_angular_limit_velocity(target_angular_velocity + ANG_VEL_STEP_SIZE)
        
                status = status + 1
        
                print_vels(target_linear_velocity, target_angular_velocity)
        
            elif key == 'd':
        
                target_angular_velocity =\
        
                    check_angular_limit_velocity(target_angular_velocity - ANG_VEL_STEP_SIZE)
        
                status = status + 1
        
                print_vels(target_linear_velocity, target_angular_velocity)
        
            elif key == ' ' or key == 's':
        
                target_linear_velocity = 0.0
        
                control_linear_velocity = 0.0
        
                target_angular_velocity = 0.0
        
                control_angular_velocity = 0.0
        
                print_vels(target_linear_velocity, target_angular_velocity)
        
            else:
        
                if (key == '\x03'):
        
                    break
        

        
            if status == 20:
        
                print(msg)
        
                status = 0
        

        
            twist = Twist()
        

        
            control_linear_velocity = make_simple_profile(
        
                control_linear_velocity,
        
                target_linear_velocity,
        
                (LIN_VEL_STEP_SIZE / 2.0))
        

        
            twist.linear.x = control_linear_velocity
        
            twist.linear.y = 0.0
        
            twist.linear.z = 0.0
        

        
            control_angular_velocity = make_simple_profile(
        
                control_angular_velocity,
        
                target_angular_velocity,
        
                (ANG_VEL_STEP_SIZE / 2.0))
        

        
            twist.angular.x = 0.0
        
            twist.angular.y = 0.0
        
            twist.angular.z = control_angular_velocity
        

        
            pub.publish(twist)
        

        
    except Exception as e:
        
        print(e)
        

        
    finally:
        
        twist = Twist()
        
        twist.linear.x = 0.0
        
        twist.linear.y = 0.0
        
        twist.linear.z = 0.0
        

        
        twist.angular.x = 0.0
        
        twist.angular.y = 0.0
        
        twist.angular.z = 0.0
        

        
        pub.publish(twist)
        

        
        if os.name != 'nt':
        
            termios.tcsetattr(sys.stdin, termios.TCSADRAIN, settings)
        

        

        
if __name__ == '__main__':
        
    main()
       
       
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Easy to add Chinese, easy to use ：

Interesting practice of robot programming 14- 3D simulation of robot （Gazebo+TurtleBot3）_ Three dimensional simulation _06

It's very important to read the source code .

4 node

Interesting practice of robot programming 14- 3D simulation of robot （Gazebo+TurtleBot3）_TurtleBot3_07

5 The theme

Interesting practice of robot programming 14- 3D simulation of robot （Gazebo+TurtleBot3）_TurtleBot3_08

6 service

ros2 service list -t

/apply_joint_effort [gazebo_msgs/srv/ApplyJointEffort]
/apply_link_wrench [gazebo_msgs/srv/ApplyLinkWrench]
/clear_joint_efforts [gazebo_msgs/srv/JointRequest]
/clear_link_wrenches [gazebo_msgs/srv/LinkRequest]
/delete_entity [gazebo_msgs/srv/DeleteEntity]
/gazebo/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/gazebo/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/gazebo/get_parameters [rcl_interfaces/srv/GetParameters]
/gazebo/list_parameters [rcl_interfaces/srv/ListParameters]
/gazebo/set_parameters [rcl_interfaces/srv/SetParameters]
/gazebo/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
/get_model_list [gazebo_msgs/srv/GetModelList]
/pause_physics [std_srvs/srv/Empty]
/reset_simulation [std_srvs/srv/Empty]
/reset_world [std_srvs/srv/Empty]
/robot_state_publisher/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/robot_state_publisher/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/robot_state_publisher/get_parameters [rcl_interfaces/srv/GetParameters]
/robot_state_publisher/list_parameters [rcl_interfaces/srv/ListParameters]
/robot_state_publisher/set_parameters [rcl_interfaces/srv/SetParameters]
/robot_state_publisher/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
/rqt_gui_py_node_4338/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/rqt_gui_py_node_4338/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/rqt_gui_py_node_4338/get_parameters [rcl_interfaces/srv/GetParameters]
/rqt_gui_py_node_4338/list_parameters [rcl_interfaces/srv/ListParameters]
/rqt_gui_py_node_4338/set_parameters [rcl_interfaces/srv/SetParameters]
/rqt_gui_py_node_4338/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
/spawn_entity [gazebo_msgs/srv/SpawnEntity]
/teleop_keyboard/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/teleop_keyboard/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/teleop_keyboard/get_parameters [rcl_interfaces/srv/GetParameters]
/teleop_keyboard/list_parameters [rcl_interfaces/srv/ListParameters]
/teleop_keyboard/set_parameters [rcl_interfaces/srv/SetParameters]
/teleop_keyboard/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
/turtlebot3_diff_drive/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/turtlebot3_diff_drive/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/turtlebot3_diff_drive/get_parameters [rcl_interfaces/srv/GetParameters]
/turtlebot3_diff_drive/list_parameters [rcl_interfaces/srv/ListParameters]
/turtlebot3_diff_drive/set_parameters [rcl_interfaces/srv/SetParameters]
/turtlebot3_diff_drive/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
/turtlebot3_imu/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/turtlebot3_imu/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/turtlebot3_imu/get_parameters [rcl_interfaces/srv/GetParameters]
/turtlebot3_imu/list_parameters [rcl_interfaces/srv/ListParameters]
/turtlebot3_imu/set_parameters [rcl_interfaces/srv/SetParameters]
/turtlebot3_imu/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
/turtlebot3_joint_state/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/turtlebot3_joint_state/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/turtlebot3_joint_state/get_parameters [rcl_interfaces/srv/GetParameters]
/turtlebot3_joint_state/list_parameters [rcl_interfaces/srv/ListParameters]
/turtlebot3_joint_state/set_parameters [rcl_interfaces/srv/SetParameters]
/turtlebot3_joint_state/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
/turtlebot3_laserscan/describe_parameters [rcl_interfaces/srv/DescribeParameters]
/turtlebot3_laserscan/get_parameter_types [rcl_interfaces/srv/GetParameterTypes]
/turtlebot3_laserscan/get_parameters [rcl_interfaces/srv/GetParameters]
/turtlebot3_laserscan/list_parameters [rcl_interfaces/srv/ListParameters]
/turtlebot3_laserscan/set_parameters [rcl_interfaces/srv/SetParameters]
/turtlebot3_laserscan/set_parameters_atomically [rcl_interfaces/srv/SetParametersAtomically]
/unpause_physics [std_srvs/srv/Empty]

7 action

SLAM And navigation .

8 more

Please refer to the previous 13 The corresponding cases in this article , Practice in this 3D environment .

summary

From two-dimensional environment to three-dimensional environment , Simulation is more cool , But the principles and instructions are almost the same , Learn one move and take control ！

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本文为[zhangrelay]所创，转载请带上原文链接，感谢
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