学习笔记27--在用于加载到gazebo的.world世界文件中添加actor活动人模型编写方法
环境:ubuntu16.04 ros-kinetic gazebo7.16问题来源:项目想仿真模拟机器人视觉避障能力,基本场景就是路上有人走来做去,移动机器人能快速停下避让.解决方式:在其 .world文件里面添加一个人在里面走来走去就ok了.当然,gazebo的确提供了相应的办法实现.这个案例基于上一个笔记博客里面(链接:https://blog.csdn.net/qq_45701501/art
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环境:ubuntu16.04 ros-kinetic gazebo7.16
问题来源:
项目想仿真模拟机器人视觉避障能力,基本场景就是路上有人走来做去,移动机器人能快速停下避让.
解决方式:
在其 .world文件里面添加一个人在里面走来走去就ok了.当然,gazebo的确提供了相应的办法实现.
这个案例基于上一个笔记博客里面(链接:https://blog.csdn.net/qq_45701501/article/details/107466727)展开的.内容上就增加一个人在里面绕圈圈.预览一下效果图:
tingzi.world:
<?xml version="1.0" ?>
<sdf version='1.6'>
<world name='default'>
<include>
<uri>model://ground_plane</uri>
</include>
<!-- A global light source -->
<include>
<uri>model://sun</uri>
</include>
<!--tingzi-->
<model name='tingzi'>
<static>true</static>
<link name='base_link'>
<pose frame=''>0 0 -1 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 -0 0</pose>
<mass>1</mass>
<inertia>
<ixx>1</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>1</iyy>
<iyz>0</iyz>
<izz>1</izz>
</inertia>
</inertial>
<collision name='base_link_collision'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<box>
<size>1e-05 1e-05 1e-05</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<collision name='base_link_fixed_joint_lump__tingzi_collision_1'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/web00/arobot_ws/src/rpy/meshes/tingzi.STL</uri>
</mesh>
</geometry>
<surface>
<contact>
<ode/>
</contact>
<friction>
<ode/>
<torsional>
<ode/>
</torsional>
</friction>
<bounce/>
</surface>
<max_contacts>10</max_contacts>
</collision>
<visual name='base_link_fixed_joint_lump__tingzi_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>/home/web00/arobot_ws/src/rpy/meshes/tingzi.STL</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Orange</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
</material>
</visual>
<gravity>1</gravity>
<velocity_decay/>
<self_collide>0</self_collide>
<kinematic>0</kinematic>
</link>
<pose frame=''>0 0 1 0 -0 0</pose>
</model>
<actor name="actor2">
<skin>
<filename>moonwalk.dae</filename>//actor活动样式,其他样式可以去找找叫啥替换上去OK了
<scale>1.0</scale>
</skin>
<pose>0 0 0 0 0 0</pose>
<animation name="walking">
<filename>moonwalk.dae</filename>
<scale>1.000000</scale>
<interpolate_x>true</interpolate_x>
</animation>
<script>//下面开始就是定义actor活动的范围以及时间,简单理解就是定义一下位置坐标和时间,这一时刻在哪个坐标位置这样子
<loop>true</loop>
<delay_start>0.000000</delay_start>
<auto_start>true</auto_start>
<trajectory id="0" type="walking">
<waypoint>
<time>0</time>//时间点
<pose>26.8 -1.8 0 0 0 -1.57</pose>//坐标
</waypoint>
<waypoint>
<time>4.5</time>
<pose>26.4 -6.7 4.9 0 0 -1.57</pose>
</waypoint>
<waypoint>
<time>5.5</time>
<pose>26.8 -7.3 5 0 0 -1.57</pose>
</waypoint>
<waypoint>
<time>5.6</time>
<pose>26.8 -7.3 5 0 0 0</pose>
</waypoint>
<waypoint>
<time>9.4</time>
<pose>29.5 -7.3 5 0 0 0</pose>
</waypoint>
<waypoint>
<time>9.5</time>
<pose>29.5 -7.3 5 0 0 3.14</pose>
</waypoint>
<waypoint>
<time>13.4</time>
<pose>26.8 -7.3 5 0 0 3.14</pose>
</waypoint>
<waypoint>
<time>13.5</time>
<pose>26.8 -7.3 5 0 0 1.57</pose>
</waypoint>
<waypoint>
<time>14</time>
<pose>26.8 -6.7 4.9 0 0 1.57</pose>
</waypoint>
<waypoint>
<time>18</time>
<pose>26.8 -1.8 0 0 0 1.57</pose>
</waypoint>
</trajectory>
</script>
</actor>
<!--actor-->
<actor name="actor">
<skin>
<filename>moonwalk.dae</filename>
<scale>1.0</scale>
</skin>
<animation name="walking">
<filename>walk.dae</filename>
<scale>1.000000</scale>
<interpolate_x>true</interpolate_x>
</animation>
<script>
<loop>true</loop>
<delay_start>0.000000</delay_start>
<auto_start>true</auto_start>
<trajectory id="0" type="walking">
<waypoint>
<time>0.000000</time>
<pose>0.000000 1.000000 0.000000 0.000000 0.000000 0.000000</pose>
</waypoint>
<waypoint>
<time>0.500000</time>
<pose>0.195090 0.980785 0.000000 0.000000 0.000000 -0.196350</pose>
</waypoint>
<waypoint>
<time>1.000000</time>
<pose>0.382683 0.923880 0.000000 0.000000 0.000000 -0.392699</pose>
</waypoint>
<waypoint>
<time>1.500000</time>
<pose>0.555570 0.831470 0.000000 0.000000 0.000000 -0.589049</pose>
</waypoint>
<waypoint>
<time>2.000000</time>
<pose>0.707107 0.707107 0.000000 0.000000 0.000000 -0.785398</pose>
</waypoint>
<waypoint>
<time>2.500000</time>
<pose>0.831470 0.555570 0.000000 0.000000 0.000000 -0.981748</pose>
</waypoint>
<waypoint>
<time>3.000000</time>
<pose>0.923880 0.382683 0.000000 0.000000 0.000000 -1.178100</pose>
</waypoint>
<waypoint>
<time>3.500000</time>
<pose>0.980785 0.195090 0.000000 0.000000 0.000000 -1.374450</pose>
</waypoint>
<waypoint>
<time>4.000000</time>
<pose>1.000000 0.000000 0.000000 0.000000 0.000000 -1.570800</pose>
</waypoint>
<waypoint>
<time>4.500000</time>
<pose>0.980785 -0.195090 0.000000 0.000000 0.000000 -1.767150</pose>
</waypoint>
<waypoint>
<time>5.000000</time>
<pose>0.923880 -0.382683 0.000000 0.000000 0.000000 -1.963500</pose>
</waypoint>
<waypoint>
<time>5.500000</time>
<pose>0.831470 -0.555570 0.000000 0.000000 0.000000 -2.159840</pose>
</waypoint>
<waypoint>
<time>6.000000</time>
<pose>0.707107 -0.707107 0.000000 0.000000 0.000000 -2.356190</pose>
</waypoint>
<waypoint>
<time>6.500000</time>
<pose>0.555570 -0.831470 0.000000 0.000000 0.000000 -2.552540</pose>
</waypoint>
<waypoint>
<time>7.500000</time>
<pose>0.382683 -0.923880 0.000000 0.000000 0.000000 -2.748890</pose>
</waypoint>
<waypoint>
<time>8.500000</time>
<pose>0.195090 -0.980785 0.000000 0.000000 0.000000 -2.945240</pose>
</waypoint>
<waypoint>
<time>9.500000</time>
<pose>0.000000 -1.000000 0.000000 0.000000 0.000000 -3.141590</pose>
</waypoint>
<waypoint>
<time>10.500000</time>
<pose>-0.195090 -0.980785 0.000000 0.000000 0.000000 2.945245</pose>
</waypoint>
<waypoint>
<time>11.500000</time>
<pose>-0.382683 -0.923880 0.000000 0.000000 0.000000 2.748895</pose>
</waypoint>
<waypoint>
<time>12.000000</time>
<pose>-0.555570 -0.831470 0.000000 0.000000 0.000000 2.552545</pose>
</waypoint>
<waypoint>
<time>12.500000</time>
<pose>-0.707107 -0.707107 0.000000 0.000000 0.000000 2.356195</pose>
</waypoint>
<waypoint>
<time>13.000000</time>
<pose>-0.831470 -0.555570 0.000000 0.000000 0.000000 2.159845</pose>
</waypoint>
<waypoint>
<time>13.500000</time>
<pose>-0.923880 -0.382683 0.000000 0.000000 0.000000 1.963495</pose>
</waypoint>
<waypoint>
<time>14.000000</time>
<pose>-0.980785 -0.195090 0.000000 0.000000 0.000000 1.767145</pose>
</waypoint>
<waypoint>
<time>14.500000</time>
<pose>-1.000000 0.000000 0.000000 0.000000 0.000000 1.570795</pose>
</waypoint>
<waypoint>
<time>15.000000</time>
<pose>-0.980785 0.195090 0.000000 0.000000 0.000000 1.374445</pose>
</waypoint>
<waypoint>
<time>15.500000</time>
<pose>-0.923880 0.382683 0.000000 0.000000 0.000000 1.178095</pose>
</waypoint>
<waypoint>
<time>16.000000</time>
<pose>-0.831470 0.555570 0.000000 0.000000 0.000000 0.981745</pose>
</waypoint>
<waypoint>
<time>16.500000</time>
<pose>-0.707107 0.707107 0.000000 0.000000 0.000000 0.785395</pose>
</waypoint>
<waypoint>
<time>17.000000</time>
<pose>-0.555570 0.831470 0.000000 0.000000 0.000000 0.589045</pose>
</waypoint>
<waypoint>
<time>17.500000</time>
<pose>-0.382683 0.923880 0.000000 0.000000 0.000000 0.392695</pose>
</waypoint>
<waypoint>
<time>18.000000</time>
<pose>-0.195090 0.980785 0.000000 0.000000 0.000000 0.196345</pose>
</waypoint>
</trajectory>
</script>
</actor>
</world>
</sdf>
把这个世界加载到gazebo环境会发现了这个模型居然是没有碰撞属性的.的确,在gazebo7系列版本都是不支持的带有碰撞属性的actor模型的.
如果有兴趣的话可以把<actor>对应碰撞属性的插件加上,然后更新gazebo版本到8以上,然后会发现这个actor模型是带有碰撞属性的(亲测了gazebo9可以,后面因为需要配合其他仿真又重装回来gazebo7.16,否则模拟生产线是没有问题的).
<actor>带有碰撞属性编写样式:
<sdf>
<world>
......
<!--actor-->
<actor name="actor">
<plugin name="actor_collisions_plugin" filename="libActorCollisionsPlugin.so">//碰撞属性定义
<scaling collision="LHipJoint_LeftUpLeg_collision" scale="
0.01
0.001
0.001
"/>
<scaling collision="LeftUpLeg_LeftLeg_collision" scale="
8.0
8.0
1.0
"/>
<scaling collision="LeftLeg_LeftFoot_collision" scale="
8.0
8.0
1.0
"/>
<scaling collision="LeftFoot_LeftToeBase_collision" scale="
4.0
4.0
1.5
"/>
<scaling collision="RHipJoint_RightUpLeg_collision" scale="
0.01
0.001
0.001
"/>
<scaling collision="RightUpLeg_RightLeg_collision" scale="
8.0
8.0
1.0
"/>
<scaling collision="RightLeg_RightFoot_collision" scale="
8.0
8.0
1.0
"/>
<scaling collision="RightFoot_RightToeBase_collision" scale="
4.0
4.0
1.5
"/>
<scaling collision="LowerBack_Spine_collision" scale="
12.0
20.0
5.0
" pose="0.05 0 0 0 -0.2 0"/>
<scaling collision="Spine_Spine1_collision" scale="
0.01
0.001
0.001
"/>
<scaling collision="Neck_Neck1_collision" scale="
0.01
0.001
0.001
"/>
<scaling collision="Neck1_Head_collision" scale="
5.0
5.0
3.0
"/>
<scaling collision="LeftShoulder_LeftArm_collision" scale="
0.01
0.001
0.001
"/>
<scaling collision="LeftArm_LeftForeArm_collision" scale="
5.0
5.0
1.0
"/>
<scaling collision="LeftForeArm_LeftHand_collision" scale="
5.0
5.0
1.0
"/>
<scaling collision="LeftFingerBase_LeftHandIndex1_collision" scale="
4.0
4.0
3.0
"/>
<scaling collision="RightShoulder_RightArm_collision" scale="
0.01
0.001
0.001
"/>
<scaling collision="RightArm_RightForeArm_collision" scale="
5.0
5.0
1.0
"/>
<scaling collision="RightForeArm_RightHand_collision" scale="
5.0
5.0
1.0
"/>
<scaling collision="RightFingerBase_RightHandIndex1_collision" scale="
4.0
4.0
3.0
"/>
</plugin>
<skin>
<filename>moonwalk.dae</filename>
<scale>1.0</scale>
</skin>
<animation name="walking">
<filename>walk.dae</filename>
<scale>1.000000</scale>
<interpolate_x>true</interpolate_x>
</animation>
<script>
<loop>true</loop>
<delay_start>0.000000</delay_start>
<auto_start>true</auto_start>
<trajectory id="0" type="walking">
<waypoint>
<time>0.000000</time>
<pose>0.000000 1.000000 0.000000 0.000000 0.000000 0.000000</pose>
</waypoint>
<waypoint>
<time>0.500000</time>
<pose>0.195090 0.980785 0.000000 0.000000 0.000000 -0.196350</pose>
</waypoint>
<waypoint>
<time>1.000000</time>
<pose>0.382683 0.923880 0.000000 0.000000 0.000000 -0.392699</pose>
</waypoint>
<waypoint>
<time>1.500000</time>
<pose>0.555570 0.831470 0.000000 0.000000 0.000000 -0.589049</pose>
</waypoint>
<waypoint>
<time>2.000000</time>
<pose>0.707107 0.707107 0.000000 0.000000 0.000000 -0.785398</pose>
</waypoint>
<waypoint>
<time>2.500000</time>
<pose>0.831470 0.555570 0.000000 0.000000 0.000000 -0.981748</pose>
</waypoint>
<waypoint>
<time>3.000000</time>
<pose>0.923880 0.382683 0.000000 0.000000 0.000000 -1.178100</pose>
</waypoint>
<waypoint>
<time>3.500000</time>
<pose>0.980785 0.195090 0.000000 0.000000 0.000000 -1.374450</pose>
</waypoint>
<waypoint>
<time>4.000000</time>
<pose>1.000000 0.000000 0.000000 0.000000 0.000000 -1.570800</pose>
</waypoint>
<waypoint>
<time>4.500000</time>
<pose>0.980785 -0.195090 0.000000 0.000000 0.000000 -1.767150</pose>
</waypoint>
<waypoint>
<time>5.000000</time>
<pose>0.923880 -0.382683 0.000000 0.000000 0.000000 -1.963500</pose>
</waypoint>
<waypoint>
<time>5.500000</time>
<pose>0.831470 -0.555570 0.000000 0.000000 0.000000 -2.159840</pose>
</waypoint>
<waypoint>
<time>6.000000</time>
<pose>0.707107 -0.707107 0.000000 0.000000 0.000000 -2.356190</pose>
</waypoint>
<waypoint>
<time>6.500000</time>
<pose>0.555570 -0.831470 0.000000 0.000000 0.000000 -2.552540</pose>
</waypoint>
<waypoint>
<time>7.500000</time>
<pose>0.382683 -0.923880 0.000000 0.000000 0.000000 -2.748890</pose>
</waypoint>
<waypoint>
<time>8.500000</time>
<pose>0.195090 -0.980785 0.000000 0.000000 0.000000 -2.945240</pose>
</waypoint>
<waypoint>
<time>9.500000</time>
<pose>0.000000 -1.000000 0.000000 0.000000 0.000000 -3.141590</pose>
</waypoint>
<waypoint>
<time>10.500000</time>
<pose>-0.195090 -0.980785 0.000000 0.000000 0.000000 2.945245</pose>
</waypoint>
<waypoint>
<time>11.500000</time>
<pose>-0.382683 -0.923880 0.000000 0.000000 0.000000 2.748895</pose>
</waypoint>
<waypoint>
<time>12.000000</time>
<pose>-0.555570 -0.831470 0.000000 0.000000 0.000000 2.552545</pose>
</waypoint>
<waypoint>
<time>12.500000</time>
<pose>-0.707107 -0.707107 0.000000 0.000000 0.000000 2.356195</pose>
</waypoint>
<waypoint>
<time>13.000000</time>
<pose>-0.831470 -0.555570 0.000000 0.000000 0.000000 2.159845</pose>
</waypoint>
<waypoint>
<time>13.500000</time>
<pose>-0.923880 -0.382683 0.000000 0.000000 0.000000 1.963495</pose>
</waypoint>
<waypoint>
<time>14.000000</time>
<pose>-0.980785 -0.195090 0.000000 0.000000 0.000000 1.767145</pose>
</waypoint>
<waypoint>
<time>14.500000</time>
<pose>-1.000000 0.000000 0.000000 0.000000 0.000000 1.570795</pose>
</waypoint>
<waypoint>
<time>15.000000</time>
<pose>-0.980785 0.195090 0.000000 0.000000 0.000000 1.374445</pose>
</waypoint>
<waypoint>
<time>15.500000</time>
<pose>-0.923880 0.382683 0.000000 0.000000 0.000000 1.178095</pose>
</waypoint>
<waypoint>
<time>16.000000</time>
<pose>-0.831470 0.555570 0.000000 0.000000 0.000000 0.981745</pose>
</waypoint>
<waypoint>
<time>16.500000</time>
<pose>-0.707107 0.707107 0.000000 0.000000 0.000000 0.785395</pose>
</waypoint>
<waypoint>
<time>17.000000</time>
<pose>-0.555570 0.831470 0.000000 0.000000 0.000000 0.589045</pose>
</waypoint>
<waypoint>
<time>17.500000</time>
<pose>-0.382683 0.923880 0.000000 0.000000 0.000000 0.392695</pose>
</waypoint>
<waypoint>
<time>18.000000</time>
<pose>-0.195090 0.980785 0.000000 0.000000 0.000000 0.196345</pose>
</waypoint>
</trajectory>
</script>
</actor>
</world>
</sdf>
以上就是怎么创建一个人在 .world世界文件中活动的创建办法.
注意,代码中出现的中文注释,使用时候一定要去掉,否则容易出现未知错误;或者把注释翻译成英文,然后使用<!-- -->包含起来也是可以的.
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