将turtlebot3 burger的.urdf.xacro檔案轉化為.urdf檔案并啟動rviz可視化顯示的方法及糾錯

本文叙述如何将turtlebot3 burger的.urdf.xacro轉化為.urdf檔案，為進一步使用turtlebot3 burger模型進行仿真做準備。

1. 建立工作空間

mkdir catkin_ws_turtlebot3

cd catkin_ws_turtlebot3
mkdir src
git clone https://github.com/ROBOTIS-GIT/turtlebot3_msgs.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3.git
git clone https://github.com/ROBOTIS-GIT/turtlebot3_simulations.git

cd ~/catkin_ws
rosdep install --from-paths src -i -y
catkin_make
           

2. “.urdf.xacro”檔案轉為“.urdf”檔案

turtlebot3的描述檔案位于turtlebot3_description包中，turtlebot3_burger.urdf.xacro檔案的路徑如下：

/home/xxx/catkin_ws_turtlebot3/src/turtlebot3/turtlebot3_description/urdf

執行如下指令進行檔案轉化：

cd ~/catkin_ws
catkin_make
source devel/setup.bash

cd catkin_ws_turtlebot3/src/turtlebot3/turtlebot3_description/urdf
rosrun xacro xacro.py turtlebot3_burger.urdf.xacro > turtlebot3_burger.urdf --inorder
           

3. 檢查urdf檔案并啟動

check_urdf turtlebot3_burger.urdf
roslaunch urdf_tutorial display.launch model:=turtlebot3_burger.urdf  
           

注：常見報錯及注意事項

①轉化之前先進工作空間進行編譯、重新整理環境

②報錯 ：“傳統處理方式已棄用”

運作

rosrun xacro xacro.py turtlebot3_burger.urdf.xacro > turtlebot3_burger.urdf

指令後，會出現如下錯誤

xacro: Traditional processing is deprecated. Switch to --inorder processing!
To check for compatibility of your document, use option --check-order.
For more infos, see http://wiki.ros.org/xacro#Processing_Order
resource not found: turtlebot3_description
ROS path [0]=/opt/ros/kinetic/share/ros
ROS path [1]=/opt/ros/kinetic/share None
when processing file: turtlebot3_burger.urdf.xacro
           

傳統處理方式已棄用，轉向 --inorder(無序) 方式進行處理)

To check for compatibility of your document, use option --check-order.

For more infos, see http://wiki.ros.org/xacro#Processing_Order

解決辦法：指令後面加上 --order 問題即可解決，即：

rosrun xacro xacro.py turtlebot3_burger.urdf.xacro > turtlebot3_burger.urdf --inorder
           

③報錯 ：檔案不存在

如果出現檔案不存在的報錯，錯誤如下所示

No such file or directory: turtlebot3_burger.urdf.xacro None None
           

需先進工作空間進行編譯重新整理環境，再進入到描述檔案所在路徑進行轉換即可

④輪子無法顯示 ，出現如下error

[WARN] [1607996313.829612]: The 'use_gui' parameter was specified, which is deprecated.  We'll attempt to find and run the GUI, but if this fails you should install the 'joint_state_publisher_gui' package instead and run that.  This backwards compatibility option will be removed in Noetic.
[ERROR] [1607996313.830762]: Could not find the GUI, install the 'joint_state_publisher_gui' package
[joint_state_publisher-2] process has died [pid 7104, exit code 1, cmd /opt/ros/kinetic/lib/joint_state_publisher/joint_state_publisher __name:=joint_state_publisher __log:=/home/tianye/.ros/log/3d9c732a-3e76-11eb-89f2-84fdd1b995d3/joint_state_publisher-2.log].
log file: /home/tianye/.ros/log/3d9c732a-3e76-11eb-89f2-84fdd1b995d3/joint_state_publisher-2*.log
           

運作如下指令安裝GUI後重新運作

sudo apt-get install ros-kinetic-joint-state-publisher-gui
           

參考資料

ROS将xacro檔案轉換成URDF檔案

ROS學習之URDF

用ROS制作我們的機器人小車（一）： URDF簡介

URDF中出現Could not find the GUI, install the ‘joint_state_publisher_gui’ package問題