ROS下Stage仿真器以及TF详解PPT（含例程代码）.pdf

发布时间：2022-06-03 发布人：admin 分类：说明书资料大小：3.55M 资料格式：pdf 举报版权申诉

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ROS Stage and TF

Agenda • Stage: • Stage simulator • Reading laser sensor data • Writing a simple walker • TF: • ROS transformation system • Writing a tf broadcaster • Writing a tf listener 2

ROS Stage Simulator • http://wiki.ros.org/simulator_stage • A 2D simulator that provides a virtual world populated by mobile robots, along with various objects for the robots to sense and manipulate 3

Run Stage with an existing world ﬁle • Stage is already installed with ROS Indigo • Stage ships with some example world ﬁles, including one that puts an Erratic-like robot in a Willow Garage-like environment • To run it with an existing world ﬁle rosrun stage_ros stageros `rospack find stage_ros`/world/willow-‐erratic.world • Browsing the stage window should show up 2 little squares: a red square which is a red box and a blue square which is the erratic robot 4

Run Stage with an existing world ﬁle • Click on the stage window and press R to see the perspective view. 5

Stage World Files • The world ﬁle is a description of the world that Stage must simulate. • It describes robots, sensors, actuators, moveable and immovable objects. • Sample world ﬁles can be found at the /world subdirectory in ros_stage package 6

World File Format • The basic syntactic features of the world ﬁle format: comments, entities and properties • The deﬁne statement can be used to deﬁne new types of entities. • deﬁne myrobot position (player() laser() ) • Entities have properties, indicated using name value pairs • myrobot (name "robot1" port 6665 pose [1 1 0]) • This entry creates a position device named "robot1" attached to port 6665, with initial position (1, 1) and orientation of 0 7

Stage World File Example define block model ( size [0.5 0.5 0.75] gui_nose 0 ) define topurg ranger ( sensor( range_max 30.0 fov 270.25 samples 1081 ) # generic model properties color "black" size [ 0.05 0.05 0.1 ] ) define pr2 position ( size [0.65 0.65 0.25] origin [-‐0.05 0 0 0] gui_nose 1 drive "omni" topurg(pose [ 0.275 0.000 0 0.000 ]) )

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ROS下Stage仿真器以及TF详解PPT（含例程代码）.pdf

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