Webots+ROS学习记录（4）——六轮全地形移动机器人
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2022-06-04 15:08:07
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Webots+ROS学习记录（4）——六轮全地形移动机器人
有了以上经验，可以创造出一个全地形的移动机器人如图1
第一步，创建robot节点，并给robot节点编写相应参数
注意，这里的机身不能再使用单纯的shape，因为其相对四足有坐标变换，所以应该使用transform
第二步，依次创建HingeJoint、soid、tramsform等节点，完成每一个*的node tree
注意，在这里有些地方我使用了group节点：group可以直接派生出transform。group节点包含子节点，但不引入新的坐标转换。group节点可能不包含后续solid、device或robot节点。
以下是我自己创建的world文件，供大家参考
#VRML_OBJ R2019a utf8
Robot {
translation 4 0.4 0
rotation 0 0 1 0
children [
DEF SIXWHEEL_BODY Transform {
children [
Shape {
appearance Appearance {
material Material {
}
}
geometry DEF BODY Box {
size 1.6 0.4 0.5
}
}
]
}
DEF HJ_BodyToHinge1 HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0.65 0.1 -0.26
}
device [
DEF ForLeftMoter1 RotationalMotor {
}
]
endPoint Solid {
translation 0.65 0.1 -0.26
rotation 0 0 -1 0.5000000000000004
children [
DEF BodyToHinge1 Transform {
rotation 0 0 1 0
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.02 0.1 0.01
}
}
]
}
DEF HingeToSlider SliderJoint {
jointParameters JointParameters {
axis 0 1 0
}
device [
DEF ForLeFtLineMoter LinearMotor {
}
]
endPoint Solid {
translation 0 -0.15 0
children [
DEF Slider1 Transform {
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.02 0.15 0.01
}
}
]
}
DEF SliderToLeg HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0 -0.060000000000000005 -0.015
}
device [
DEF ForLeftMoter2 RotationalMotor {
name ""
}
]
endPoint Solid {
translation 0 -0.060000000000000005 -0.015
rotation 0 0 1 0
children [
DEF Leg1 Transform {
rotation 0 0 1 1.6
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.02 0.5 0.01
}
}
]
}
DEF LegToWheel1 HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0.24 0 -0.033
}
device [
DEF WheelMoter1 RotationalMotor {
name "wheel1"
maxVelocity 100
maxTorque 20
}
]
endPoint Solid {
translation 0.24 0 -0.033
rotation 0 0 1 0
children [
DEF Wheel1 Transform {
rotation 1 0 0 1.5707963
children [
Shape {
appearance Appearance {
}
geometry Cylinder {
height 0.05
radius 0.2
}
}
]
}
]
boundingObject USE Wheel1
physics DEF MY_WHEEL_PH Physics {
density -1
mass 0.05
}
}
}
]
boundingObject USE Leg1
physics DEF MY_LEG_PH Physics {
density -1
mass 0.05
}
}
}
]
boundingObject USE Slider1
physics DEF MY_SLIDER_PH Physics {
density -1
mass 0.05
}
}
}
]
boundingObject USE BodyToHinge1
physics DEF MY_HINGE_PH Physics {
density -1
mass 0.05
}
}
}
DEF MidHinge1 HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0.32299999769066834 0.008000001494273701 -0.275
}
device [
DEF ConnectorMoter1 RotationalMotor {
}
]
endPoint Solid {
translation 0.32295089466010324 0.0060253712513336465 -0.2750812021895668
rotation -0.8584282350645976 0.26759023243174207 -0.4376030538638943 0.00038163349067606503
children [
DEF Group1 Group {
children [
Transform {
translation -0.009 0.028999999999999998 0
rotation 0 0 1 -0.5236003061004253
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.01 0.04 0.018
}
}
]
}
Transform {
translation 0.020999999999999998 0.033 0
rotation 0 0 1 1.0472003061004251
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.01 0.13 0.018
}
}
]
}
Transform {
rotation 0 0 1 1.0472003061004251
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.01 0.13 0.018
}
}
]
}
Transform {
translation -0.004 0.026 -0.019
rotation 0 0 1 1.0472003061004251
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.05 0.16 0.018
}
}
]
}
Transform {
translation -0.004 0.026 0.017
rotation 0 0 1 1.0472003061004251
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.05 0.16 0.009
}
}
]
}
]
}
]
name "midhinge"
boundingObject USE Group1
physics Physics {
density -1
mass 0.05
}
}
}
DEF HJ_BodyToHinge2 HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0.65 0.1 0.26
}
device [
DEF ForRightMoter1 RotationalMotor {
}
]
endPoint Solid {
translation 0.65 0.1 0.26
rotation 0 0 -1 0.5000000000000004
children [
DEF BodyToHinge2 Transform {
rotation 0 0 1 0
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.02 0.1 0.01
}
}
]
}
DEF HingeToSlider2 SliderJoint {
jointParameters JointParameters {
axis 0 1 0
}
device [
DEF ForRightLineMoter LinearMotor {
}
]
endPoint Solid {
translation 0 -0.15 0
children [
DEF Slider2 Transform {
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.02 0.15 0.01
}
}
]
}
DEF Slider2ToLeg HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0 -0.060000000000000005 0.015
}
device [
DEF ForRightMoter2 RotationalMotor {
}
]
endPoint Solid {
translation 0 -0.060000000000000005 0.015
rotation 0 0 1 0
children [
DEF Leg2 Transform {
rotation 0 0 1 1.6
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.02 0.5 0.01
}
}
]
}
DEF LegToWheel2 HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0.24 0 0.033
}
device [
DEF WheelMoter2 RotationalMotor {
name "wheel2"
maxVelocity 100
maxTorque 20
}
]
endPoint Solid {
translation 0.24 0 0.033
rotation 0 0 1 0
children [
DEF Wheel2 Transform {
rotation 1 0 0 1.5707963
children [
Shape {
appearance Appearance {
}
geometry Cylinder {
height 0.05
radius 0.2
}
}
]
}
]
boundingObject USE Wheel2
physics USE MY_WHEEL_PH
}
}
]
boundingObject USE Leg2
physics USE MY_LEG_PH
}
}
]
boundingObject USE Slider2
physics USE MY_SLIDER_PH
}
}
]
name "solid(1)"
boundingObject USE BodyToHinge2
physics Physics {
density -1
mass 0.05
}
}
}
DEF MidHinge2 HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0.32299999769066834 0.008000001494273701 0.275
}
device [
RotationalMotor {
}
]
endPoint Solid {
translation 0.3229999976244453 0.006040038943473158 0.2750000107903539
rotation -0.9999731385339321 1.2772224258984438e-07 -0.007329543681641848 1.097632116311221e-05
children [
DEF GROUP2 Group {
children [
Transform {
translation -0.009 0.028999999999999998 0
rotation 0 0 1 -0.5236003061004253
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.01 0.04 0.018
}
}
]
}
Transform {
translation 0.020999999999999998 0.033 0
rotation 0 0 1 1.0472003061004251
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.01 0.13 0.018
}
}
]
}
Transform {
rotation 0 0 1 1.0472003061004251
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.01 0.13 0.018
}
}
]
}
Transform {
translation -0.004 0.026 -0.019
rotation 0 0 1 1.0472003061004251
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.05 0.16 0.018
}
}
]
}
Transform {
translation -0.004 0.026 0.017
rotation 0 0 1 1.0472003061004251
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.05 0.16 0.009
}
}
]
}
]
}
]
name "midhinge(1)"
boundingObject USE GROUP2
physics Physics {
density -1
mass 0.05
}
}
}
DEF HJ_Wheel3 HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0 -0.2 -0.28
}
device [
RotationalMotor {
name "wheel3"
maxVelocity 100
}
]
endPoint Solid {
translation 0 -0.19999999999999998 -0.275
rotation 0 0 1 0
children [
DEF Wheel3 Transform {
rotation 1 0 0 1.5707963
children [
Shape {
appearance Appearance {
}
geometry Cylinder {
height 0.05
radius 0.2
}
}
]
}
]
name "solid(2)"
boundingObject USE Wheel3
physics USE MY_WHEEL_PH
}
}
DEF HJ_Wheel4 HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0 -0.2 0.28
}
device [
RotationalMotor {
name "wheel4"
maxVelocity 100
}
]
endPoint Solid {
translation 0 -0.2 0.275
rotation 0 0 1 0
children [
DEF Wheel4 Transform {
rotation 1 0 0 1.5707963
children [
Shape {
appearance Appearance {
}
geometry Cylinder {
height 0.05
radius 0.2
}
}
]
}
]
name "solid(3)"
boundingObject USE Wheel4
physics USE MY_WHEEL_PH
}
}
DEF HJ_BodyToHinge5 HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor -0.65 0.1 0.26
}
device [
RotationalMotor {
}
]
endPoint Solid {
translation -0.65 0.1 -0.26
rotation 0 0 1 0.5000000000000004
children [
DEF BodyToHinge5 Transform {
rotation 0 0 1 0
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.02 0.1 0.01
}
}
]
}
DEF Hinge5ToSlider SliderJoint {
jointParameters JointParameters {
axis 0 1 0
}
device [
LinearMotor {
}
]
endPoint Solid {
translation 0 -0.15 0
children [
DEF Slider5 Transform {
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.02 0.15 0.01
}
}
]
}
DEF Slider5ToLeg HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0 -0.060000000000000005 -0.015
}
device [
RotationalMotor {
}
]
endPoint Solid {
translation 0 -0.060000000000000005 -0.015
rotation 0 0 1 3.141592653589793
children [
DEF Leg5 Transform {
rotation 0 0 1 1.6
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.02 0.5 0.01
}
}
]
}
DEF Leg5ToWheel1 HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0.24 0 -0.033
}
device [
RotationalMotor {
name "wheel4"
maxVelocity 100
}
]
endPoint Solid {
translation 0.24 0 -0.033
rotation 0 0 1 0
children [
DEF Wheel5 Transform {
rotation 1 0 0 1.5707963
children [
Shape {
appearance Appearance {
}
geometry Cylinder {
height 0.05
radius 0.2
}
}
]
}
]
boundingObject USE Wheel5
physics USE MY_WHEEL_PH
}
}
]
boundingObject USE Leg5
physics USE MY_LEG_PH
}
}
]
boundingObject USE Slider5
physics USE MY_SLIDER_PH
}
}
]
name "solid(4)"
boundingObject USE BodyToHinge5
physics USE MY_HINGE_PH
}
}
DEF MidHinge3 HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0.32299999769066834 0.008000001494273701 -0.275
}
device [
RotationalMotor {
}
]
endPoint Solid {
translation -0.32300000037121457 0.0660401038494264 -0.27500064768412996
rotation -3.1686134915985575e-06 -5.488125017754091e-06 -0.9999999999799203 2.094399795727144
children [
DEF Group3 Group {
children [
Transform {
translation -0.009 0.028999999999999998 0
rotation 0 0 1 -0.5236003061004253
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.01 0.04 0.018
}
}
]
}
Transform {
translation 0.020999999999999998 0.033 0
rotation 0 0 1 1.0472003061004251
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.01 0.13 0.018
}
}
]
}
Transform {
rotation 0 0 1 1.0472003061004251
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.01 0.13 0.018
}
}
]
}
Transform {
translation -0.004 0.026 -0.019
rotation 0 0 1 1.0472003061004251
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.05 0.16 0.018
}
}
]
}
Transform {
translation -0.004 0.026 0.017
rotation 0 0 1 1.0472003061004251
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.05 0.16 0.009
}
}
]
}
]
}
]
name "midhinge(2)"
boundingObject USE Group3
physics Physics {
density -1
mass 0.05
}
}
}
DEF HJ_BodyToHinge6 HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor -0.65 0.1 0.26
}
device [
RotationalMotor {
}
]
endPoint Solid {
translation -0.65 0.1 0.26
rotation 0 0 1 0.5000000000000004
children [
DEF BodyToHinge6 Transform {
rotation 0 0 1 0
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.02 0.1 0.01
}
}
]
}
DEF Hinge6ToSlider SliderJoint {
jointParameters JointParameters {
axis 0 1 0
}
device [
LinearMotor {
}
]
endPoint Solid {
translation 0 -0.15 0
children [
DEF Slider6 Transform {
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.02 0.15 0.01
}
}
]
}
DEF Slider6ToLeg HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0 -0.060000000000000005 -0.015
}
device [
RotationalMotor {
}
]
endPoint Solid {
translation 0 -0.060000000000000005 0.015
rotation 0 0 1 3.141592653589793
children [
DEF Leg6 Transform {
rotation 0 0 1 1.6
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.02 0.5 0.01
}
}
]
}
DEF Leg6ToWheel1 HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0.24 0 0.033
}
device [
RotationalMotor {
name "wheel4"
maxVelocity 100
}
]
endPoint Solid {
translation 0.24 0 0.033
rotation 0 0 1 0
children [
DEF Wheel6 Transform {
rotation 1 0 0 1.5707963
children [
Shape {
appearance Appearance {
}
geometry Cylinder {
height 0.05
radius 0.2
}
}
]
}
]
boundingObject USE Wheel6
physics USE MY_WHEEL_PH
}
}
]
boundingObject USE Leg6
physics USE MY_LEG_PH
}
}
]
boundingObject USE Slider6
physics USE MY_SLIDER_PH
}
}
]
name "solid(5)"
boundingObject USE BodyToHinge6
physics USE MY_HINGE_PH
}
}
DEF MidHinge4 HingeJoint {
jointParameters HingeJointParameters {
axis 0 0 1
anchor 0.32299999769066834 0.008000001494273701 0.275
}
device [
RotationalMotor {
}
]
endPoint Solid {
translation -0.32300000666469797 0.06603931936095904 0.2749993682184271
rotation -3.1698848045657166e-06 -5.490320911997462e-06 -0.9999999999799041 2.09439979575871
children [
DEF Group4 Group {
children [
Transform {
translation -0.009 0.028999999999999998 0
rotation 0 0 1 -0.5236003061004253
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.01 0.04 0.018
}
}
]
}
Transform {
translation 0.020999999999999998 0.033 0
rotation 0 0 1 1.0472003061004251
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.01 0.13 0.018
}
}
]
}
Transform {
rotation 0 0 1 1.0472003061004251
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.01 0.13 0.018
}
}
]
}
Transform {
translation -0.004 0.026 -0.019
rotation 0 0 1 1.0472003061004251
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.05 0.16 0.018
}
}
]
}
Transform {
translation -0.004 0.026 0.017
rotation 0 0 1 1.0472003061004251
children [
Shape {
appearance Appearance {
}
geometry Box {
size 0.05 0.16 0.009
}
}
]
}
]
}
]
name "midhinge(3)"
boundingObject USE Group4
physics Physics {
density -1
mass 0.8
}
}
}
]
boundingObject DEF MY_BOUNDING Transform {
children [
USE BODY
]
}
physics Physics {
density -1
mass 0.05
}
controller "6x6controller"
}