ROS2基础操作

创建工作空间

mkdir -p filename/src

cd filename

colcon build

创建package

cd src

ros2 pkg create pkgname

launch命令

ros2 launch package exefile param

urdf 文件通用格式

连杆的定义

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="robot_base">//文件标注文件名

	<link name="base_link">
		<visual>
			<origin xyz="0 0 0" rpy="1.57079632 0 3.14"/>
			<geometry>
				<mesh filename="package://robot_description/meshes/robot_base.stl"/>
			</geometry>
			<material name="">
				<color rgba="0.79216 0.81961 0.9333 1"/>
			</material>
		</visual>
	</link>
</robot>`

关节的定义

<xacro:macro name="wheel_joint" params="prefix origin">
	<joint name="${prefix}_wheel_joint" type="continuous">
		<axis xyz="0 1 0"/>
		<parent link="base_link"/>
		<child link = "${prefix}_wheel"/>
		<origin rpy ="0 0 0" xyz="${origin}"/>
	</joint>
</xacro:macro>
</robot>

关于宏的定义

<?xml version="1.0"?>
<robot xmlns:xacro="http://ros.org/wiki/xacro" name="robot_essentials">
<xacro:macro name="robot_wheel" params="prefix">
<link name="${prefix}_wheel">
<visual>
	<origin xyz="0 0 0" rpy="1.5707963 0 0"/>
	<geometry>
		<mesh filename="package://robot_description/meshes/wheel.stl">//package找的是install里面的文件夹
	</geometry>
	<material name="">
		<color rgba="0.79216 0.81961 0.93333 1"/>	
	</material>
</visual>
</link>
</xacro:macro>
</robot>

宏的调用

<xacro:include filename="$(find robot_description)/urdf/robot_base_essentials.xacro" />//引用别的xacro文件
<xacro:robot_wheel prefix="rear_right"/>