ROS中给turtlebot加两个传感器：kinect+hokuyo，进行gazebo仿真（一）

        通过学习大神的博客：    ros中利用gazebo进行gmapping仿真:kobuki+kinect -> kobuki+rplidar
        http://blog.csdn.net/zyh821351004/article/details/48846179
         继续改进，才有了下面的实现。好，废话不多说，以下内容出现错误的地方还望大家指出，共同进步，谢谢！
       注意下述中的红色提醒！！！
1、首先看 roslaunch turtlebot_gazebo turtlebot_world.launch命令中turtlebot_world.launch的文件。

<launch>
  <arg name="world_file"  default="$(env TURTLEBOT_GAZEBO_WORLD_FILE)"/>

  <arg name="base"      value="$(optenv TURTLEBOT_BASE kobuki)"/> <!-- create, roomba -->
  <arg name="battery"   value="$(optenv TURTLEBOT_BATTERY /proc/acpi/battery/BAT0)"/>  <!-- /proc/acpi/battery/BAT0 -->
  <arg name="gui" default="true"/>
  <arg name="stacks"    value="$(optenv TURTLEBOT_STACKS hexagons)"/><!-- circles, hexagons -->
  <arg name="3d_sensor" value="$(optenv TURTLEBOT_3D_SENSOR KinectHokuyo)"/>  <!-- kinect, asus_xtion_pro -->

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="use_sim_time" value="true"/>
    <arg name="debug" value="false"/>
    <arg name="gui" value="$(arg gui)" />
    <arg name="world_name" value="$(arg world_file)"/>
  </include>
 
  <include file="$(find turtlebot_gazebo)/launch/includes/$(arg base).launch.xml">
    <arg name="base" value="$(arg base)"/>
    <arg name="stacks" value="$(arg stacks)"/>
    <arg name="3d_sensor" value="$(arg 3d_sensor)"/>
  </include>

2、由上述蓝色处看kobuki.launch.xml 文件，其中有下面这一句。<argname="urdf_file" default="$(find xacro)/xacro.py'$(find turtlebot_description)/robots/$(argbase)_$(arg stacks)_$(arg3d_sensor).urdf.xacro'"/>

       所以，在/turtlebot/turtlebot_description/robots 路径下，建立相应的urdf文件：kobuki_hexagons_KinectHokuyo.urdf.xacro

<?xml version="1.0"?>
<!--
    - Base      : kobuki
    - Stacks    : hexagons
    - 3d Sensor : kinect+hokuyo
-->    
<robot name="turtlebot" xmlns:xacro="http://ros.org/wiki/xacro">

  <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_library.urdf.xacro" />
  <xacro:include filename="$(find kobuki_description)/urdf/kobuki.urdf.xacro" />
  <xacro:include filename="$(find turtlebot_description)/urdf/stacks/hexagons.urdf.xacro"/>
  <xacro:include filename="$(find turtlebot_description)/urdf/sensors/kinect.urdf.xacro"/>
  <xacro:include filename="$(find turtlebot_description)/urdf/sensors/hokuyo.urdf.xacro"/>
 
  <kobuki/>
  <stack_hexagons parent="base_link"/>
  <sensor_kinect  parent="base_link"/>
  <sensor_hokuyo parent="base_link"/>
</robot>

3、进入文件turtlebot_description/urdf/turtlebot_library.urdf.xacro添加hoyuko的urdf文件：<xacro:includefilename="$(findturtlebot_description)/urdf/sensors/hoyuko.urdf.xacro"/>

<?xml version="1.0"?>
<!--
  The complete turtlebot library of xacros for easy reference
 -->
<robot xmlns:xacro="http://ros.org/wiki/xacro">
  <!-- General -->
  <xacro:include filename="$(find turtlebot_description)/urdf/common_properties.urdf.xacro"/>
  <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_properties.urdf.xacro"/>
  <!-- Bases -->
  <xacro:include filename="$(find create_description)/urdf/create.urdf.xacro"/>
  <xacro:include filename="$(find kobuki_description)/urdf/kobuki.urdf.xacro" />
  <!-- Stacks -->
  <xacro:include filename="$(find turtlebot_description)/urdf/stacks/circles.urdf.xacro"/>
  <xacro:include filename="$(find turtlebot_description)/urdf/stacks/hexagons.urdf.xacro"/>
  <!-- 3D Sensors -->
  <xacro:include filename="$(find turtlebot_description)/urdf/sensors/kinect.urdf.xacro"/>
  <xacro:include filename="$(find turtlebot_description)/urdf/sensors/asus_xtion_pro.urdf.xacro"/>
  <xacro:include filename="$(find turtlebot_description)/urdf/sensors/asus_xtion_pro_offset.urdf.xacro"/>
  <xacro:include filename="$(find turtlebot_description)/urdf/sensors/astra.urdf.xacro"/>
  <xacro:include filename="$(find turtlebot_description)/urdf/sensors/r200.urdf.xacro"/>

   <xacro:include filename="$(find turtlebot_description)/urdf/sensors/hokuyo.urdf.xacro"/>  

 </robot>

4、在路径turtlebot_description/urdf/sensors/下建立hokuyo.urdf.xacro urdf文件，配置位置信息。

<?xml version="1.0"?>      <!-- script_version=1.1 -->      <robot name="sensor_hokuyo" xmlns:xacro="http://ros.org/wiki/xacro">        <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_gazebo.urdf.xacro"/>        <xacro:include filename="$(find turtlebot_description)/urdf/turtlebot_properties.urdf.xacro"/>              <!-- RPLidar 2D LIDAR -->        <xacro:macro name="sensor_hokuyo" params="parent">          <joint name="laser" type="fixed">            <origin xyz="0.10 0 0.425" rpy="0 0.0 0.0" />            <parent link="base_link" />            <child link="base_laser_link" />          </joint>                <link name="base_laser_link">            <visual>              <geometry>                <box size="0.05 0.05 0.05" />              </geometry>              <material name="Black" />            </visual>            <inertial>              <mass value="0.000001" />              <origin xyz="0 0 0" />              <inertia ixx="0.0001" ixy="0.0" ixz="0.0"                iyy="0.0001" iyz="0.0"                izz="0.0001" />            </inertial>          </link>                <!-- Set up laser gazebo details -->          <turtlebot_sim_2dsensor/>      </xacro:macro>  </robot>  

5、在turtlebot_description/urdf/turtlebot_gazebo.urdf.xacro文件下添加配置laser在gazebo下的属性值插件配置

<?xml version="1.0"?><robot name="turtlebot_gazebo" xmlns:xacro="http://ros.org/wiki/xacro">  <!-- Microsoft Kinect / ASUS Xtion PRO Live for simulation -->  <xacro:macro name="turtlebot_sim_3dsensor">    <gazebo reference="camera_link">        <sensor type="depth" name="camera">        <always_on>true</always_on>        <update_rate>20.0</update_rate>        <camera>          <horizontal_fov>${60.0*M_PI/180.0}</horizontal_fov>          <image>            <format>B8G8R8</format>            <width>640</width>            <height>480</height>          </image>          <clip>            <near>0.05</near>            <far>8.0</far>          </clip>        </camera>        <plugin name="kinect_camera_controller" filename="libgazebo_ros_openni_kinect.so">          <cameraName>camera</cameraName>          <alwaysOn>true</alwaysOn>          <updateRate>10</updateRate>          <imageTopicName>rgb/image_raw</imageTopicName>          <depthImageTopicName>depth/image_raw</depthImageTopicName>          <pointCloudTopicName>depth/points</pointCloudTopicName>          <cameraInfoTopicName>rgb/camera_info</cameraInfoTopicName>          <depthImageCameraInfoTopicName>depth/camera_info</depthImageCameraInfoTopicName>          <frameName>camera_depth_optical_frame</frameName>          <baseline>0.1</baseline>          <distortion_k1>0.0</distortion_k1>          <distortion_k2>0.0</distortion_k2>          <distortion_k3>0.0</distortion_k3>          <distortion_t1>0.0</distortion_t1>          <distortion_t2>0.0</distortion_t2>          <pointCloudCutoff>0.4</pointCloudCutoff>        </plugin>      </sensor>    </gazebo>  </xacro:macro> <xacro:macro name="turtlebot_sim_2dsensor"> <gazebo reference="hokuyo_link">        <sensor type="ray" name="head_hokuyo_sensor">          <pose>0 0 0 0 0 0</pose>          <visualize>false</visualize>          <update_rate>40</update_rate>          <ray>            <scan>              <horizontal>                <samples>720</samples>                <resolution>1</resolution>                <min_angle>-1.570796</min_angle>                <max_angle>1.570796</max_angle>              </horizontal>            </scan>            <range>              <min>0.10</min>              <max>30.0</max>              <resolution>0.01</resolution>            </range>            <noise>              <type>gaussian</type>              <!-- Noise parameters based on published spec for Hokuyo laser                   achieving "+-30mm" accuracy at range < 10m.  A mean of 0.0m and                   stddev of 0.01m will put 99.7% of samples within 0.03m of the true                   reading. -->               <mean>0.0</mean>              <stddev>0.01</stddev>            </noise>          </ray>          <plugin name="gazebo_ros_head_hokuyo_controller" filename="libgazebo_ros_laser.so">            <topicName>/rrbot/laser/scan</topicName>            <frameName>hokuyo_link</frameName>          </plugin>        </sensor>      </gazebo>  </xacro:macro> </robot>

6、环境变量加入

    打开命令窗口输入：$    gedit  ~/.bashrc，添加下述命令到文件尾：

export  TURTLEBOT_BASE=kobuki  

export  TURTLEBOT_STACKS=heagons

export  TURTLEBOT_3D_SENSOR=KinectHokuyo

     添加完毕后，重启命令窗口即可。
7、运行

$   roslaunch turtlebot_gazebo turtlebot_world.launch

上述内容还需完善，请看下一篇：

ROS中给turtlebot加两个传感器：kinect+hokuyo，进行gazebo仿真 （二）