Robot

gistfile1.xml

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from robot1_base_02.xacro           | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="robot1_xacro" xmlns:controller="http://playerstage.sourceforge.net/gazebo/xmlschema/#controller" xmlns:interface="http://playerstage.sourceforge.net/gazebo/xmlschema/#interface" xmlns:sensor="http://playerstage.sourceforge.net/gazebo/xmlschema/#sensor" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <link name="base_footprint">
    <visual>
      <geometry>
        <box size="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </visual>
    <inertial>
      <mass value="0.0001"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="base_footprint">
    <material>Gazebo/Green</material>
    <turnGravityOff>false</turnGravityOff>
  </gazebo>
  <joint name="base_footprint_joint" type="fixed">
    <origin xyz="0 0 0"/>
    <parent link="base_footprint"/>
    <child link="base_link"/>
  </joint>
  <link name="base_link">
    <visual>
      <geometry>
        <box size="0.2 .3 .1"/>
      </geometry>
      <origin rpy="0 0 1.54" xyz="0 0 0.05"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.2 .3 0.1"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="base_link">
    <material value="Gazebo/Red" />
  </gazebo>
  <link name="wheel_1">
    <visual>
      <geometry>
        <cylinder length="0.05" radius="0.05"/>
      </geometry>
      <!-- <origin rpy="0 1.5 0" xyz="0.1 0.1 0"/> -->
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="Black" />
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.05" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="wheel_1">
    <material value="Gazebo/Black" />
  </gazebo>
  <link name="wheel_2">
    <visual>
      <geometry>
        <cylinder length="0.05" radius="0.05"/>
      </geometry>
      <!-- <origin rpy="0 1.5 0" xyz="-0.1 0.1 0"/> -->
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.05" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="wheel_2">
    <material value="Gazebo/Black" />
  </gazebo>
  <link name="wheel_3">
    <visual>
      <geometry>
        <cylinder length="0.05" radius="0.05"/>
      </geometry>
      <!-- <origin rpy="0 1.5 0" xyz="0.1 -0.1 0"/> -->
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.05" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="wheel_3">
    <material value="Gazebo/Black" />
  </gazebo>
  <link name="wheel_4">
    <visual>
      <geometry>
        <cylinder length="0.05" radius="0.05"/>
      </geometry>
      <!--	<origin rpy="0 1.5 0" xyz="-0.1 -0.1 0"/> -->
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="black"/>
    </visual>
    <collision>
      <geometry>
        <cylinder length="0.05" radius="0.05"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="1"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>
  <gazebo reference="wheel_4">
    <material value="Gazebo/Black" />
  </gazebo>
  <joint name="base_to_wheel1" type="continuous">
    <parent link="base_link"/>
    <child link="wheel_1"/>
    <origin rpy="1.5707 0 0" xyz="0.1 0.15 0"/>
    <axis xyz="0 0 1"/>
  </joint>
  <joint name="base_to_wheel2" type="continuous">
    <axis xyz="0 0 1"/>
    <anchor xyz="0 0 0"/>
    <limit effort="100" velocity="100"/>
    <parent link="base_link"/>
    <child link="wheel_2"/>
    <origin rpy="1.5707 0 0" xyz="-0.1 0.15 0"/>
  </joint>
  <joint name="base_to_wheel3" type="continuous">
    <parent link="base_link"/>
    <axis xyz="0 0 1"/>
    <child link="wheel_3"/>
    <origin rpy="1.5707 0 0" xyz="0.1 -0.15 0"/>
  </joint>
  <joint name="base_to_wheel4" type="continuous">
    <parent link="base_link"/>
    <axis xyz="0 0 1"/>
    <child link="wheel_4"/>
    <origin rpy="1.5707 0 0" xyz="-0.1 -0.15 0"/>
  </joint>

  <!-- Camera -->
  <joint name="camera_joint" type="fixed">
    <axis xyz="0 1 0" />
    <origin xyz=".15 0 .18" rpy="0 0 0"/>
    <parent link="base_link"/>
    <child link="camera_link"/>
  </joint>
  <link name="camera_link">
    <collision>
       <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size=".05 .05 .05"/>
      </geometry>
    </collision>

    <visual>
     <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size=".05 .05 .05"/>
      </geometry>
    </visual>

    <inertial>
      <mass value="1e-5" />
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6" />
    </inertial>
  </link>
  <gazebo reference="camera_link">
    <material value="Gazebo/Blue" />
  </gazebo>

  <!-- Camera Gazebo -->
  <gazebo reference="camera_link">
    <sensor type="camera" name="camera1">
      <update_rate>30.0</update_rate>
      <camera name="head">
        <horizontal_fov>1.3962634</horizontal_fov>
        <image>
          <width>800</width>
          <height>600</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.02</near>
          <far>300</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <!-- Noise is sampled independently per pixel on each frame.
               That pixel's noise value is added to each of its color
               channels, which at that point lie in the range [0,1]. -->
          <mean>0.0</mean>
          <stddev>0.007</stddev>
        </noise>
      </camera>
      <plugin name="camera_controller" filename="libgazebo_ros_camera.so">
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <cameraName>front_camera</cameraName>
        <imageTopicName>image_raw</imageTopicName>
        <cameraInfoTopicName>camera_info</cameraInfoTopicName>
        <frameName>camera_link</frameName>
        <hackBaseline>0.07</hackBaseline>
        <distortionK1>0.0</distortionK1>
        <distortionK2>0.0</distortionK2>
        <distortionK3>0.0</distortionK3>
        <distortionT1>0.0</distortionT1>
        <distortionT2>0.0</distortionT2>
      </plugin>
    </sensor>
  </gazebo>

  <!-- Laser  -->
  <!-- Front Laser -->
  <joint name="chassis_front_laser_joint" type="fixed">
    <axis xyz="0 0 1"/>
    <origin rpy="0 0 0" xyz="0.18 0 0.06"/>
    <parent link="base_link"/>
    <child link="front_laser"/>
  </joint>
  <link name="front_laser">
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.1 0.1 0.1"/>
      </geometry>
    </collision>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <mesh filename="package://bazebo/meshes/hokuyo.dae"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="1e-5"/>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <inertia ixx="1e-6" ixy="0" ixz="0" iyy="1e-6" iyz="0" izz="1e-6"/>
    </inertial>
  </link>
  <gazebo reference="front_laser">
    <sensor name="laser" type="ray">
      <pose>0 0 0 0 0 0</pose>
      <ray>
        <scan>
          <horizontal>
            <!-- The URG-04LX-UG01  has  683 steps with 0.35139 Degree resolution -->
            <resolution>1</resolution>
            <max_angle>1.0472</max_angle>
            <min_angle>-1.0472</min_angle>
            <samples>5</samples>
          </horizontal>
        </scan>
        <range>
          <min>0.08</min>
          <max>5</max>
          <resolution>0.01</resolution>
        </range>
      </ray>
      <plugin filename="libgazebo_ros_laser.so" name="laser">
        <robotNamespace></robotNamespace>
        <topicName>front_laser/scan</topicName>
        <frameName>front_laser</frameName>
      </plugin>
      <!--
          <plugin name="laser" filename="libRayPlugin.so" />
          -->
      <always_on>1</always_on>
      <update_rate>30</update_rate>
      <visualize>true</visualize>
    </sensor>
  </gazebo>

  <!-- Differential Driver Eklentisi/> -->
    <gazebo>
    <plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
      <rosDebugLevel>Debug</rosDebugLevel>
      <robotNamespace></robotNamespace>
      <publishWheelTF>false</publishWheelTF>
      <publishWheelJointState>true</publishWheelJointState>
      <alwaysOn>false</alwaysOn>
      <leftJoint>base_to_wheel4</leftJoint>
      <rightJoint>base_to_wheel2</rightJoint>
      <wheelSeparation>0.33</wheelSeparation>
      <wheelDiameter>0.1</wheelDiameter>
      <wheelTorque>5</wheelTorque>
      <commandTopic>cmd_vel</commandTopic>
      <odometryTopic>odom</odometryTopic>
      <odometryFrame>odom</odometryFrame>
      <odometrySource>world</odometrySource>
      <robotBaseFrame>base_link</robotBaseFrame>
      <updateRate>100.0</updateRate>
    </plugin>
  </gazebo>

</robot>

move_test

#!/usr/bin/env python
# -*- coding: utf-8 -*-

import rospy
from geometry_msgs.msg import Twist


def main():
    rospy.init_node("move_test", anonymous=False)

    cmd_vel = rospy.Publisher("/rrbot/cmd_vel", Twist, queue_size=10)

    r = rospy.Rate(10)

    move_cmd = Twist()
    move_cmd.linear.x = 0.2
    move_cmd.angular.z = 0.0

    while not rospy.is_shutdown():
        cmd_vel.publish(move_cmd)

        r.sleep()

    cmd_vel.publish(Twist())
    rospy.sleep(1)


if __name__ == "__main__":
    main()