基于ROS的轮式机器人建模方法与仿真研究

doi:10.16039/j.cnki.cn22-1249.2021.03.013

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摘要

针对ROS环境下模型构建存在耗时、难度高、操作复杂等问题，提出一种外部机器人模型导入的模型构建方法。采用ROS操作系统搭建模型仿真平台，利用SolidWorks软件生成ROS平台可执行的URDF文件，完成机器人的3D建模。经过URDF文件解析后在Rviz和Gazebo中显示三维模型并进行仿真验证，可实现机器人的自主控制，对轮式机器人的建图和路径规划算法研究有着重要意义。

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	朱建军
	王明园
	张博文

关键词: 轮式机器人模型构建 URDF ROS Gazebo Rvi

Abstract:

Aiming at the problems of a time-consuming, difficult and complex operation in ROS environment, a model building method of external robot model import was proposed. The ROS operating system was used to build the model simulation platform, and SolidWorks software was used to generate the URDF file that could be executed by the ROS platform to complete the 3D modeling of the robot. The 3D model is displayed in Rviz and Gazebo for simulation verification after URDF file parsing, which can realize the autonomous control of the robot. It is of great significance to the research on the mapping and path planning algorithm of wheeled robots.

Key words: wheeled robots model building URDF ROS Gazebo Rviz

出版日期: 2021-03-25 发布日期: 2021-03-25 整期出版日期: 2021-03-25

TP242

引用本文:

朱建军, 王明园, 张博文. 基于ROS的轮式机器人建模方法与仿真研究 [J]. 吉林化工学院学报, 2021, 38(3): 61-65.
ZHU Janjun, WANG Mingyuan, ZHANG Bowen. Research on Modeling Method and Simulation of Wheeled Robot based on ROS . Journal of Jilin Institute of Chemical Technology, 2021, 38(3): 61-65.

链接本文:

https://xuebao.jlict.edu.cn/CN/10.16039/j.cnki.cn22-1249.2021.03.013 或 https://xuebao.jlict.edu.cn/CN/Y2021/V38/I3/61

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