Xacro \u5168\u8be6\u89e3（ROS\u673a\u5668\u4eba\u5efa\u6a21\u5fc5\u5907，\u9002\u914d\u673a\u68b0\u81c2\/\u65e0\u4eba\u8f66，\u5b9e\u64cd\u5168\u8986\u76d6）<\/p>\n
\u00a0<\/p>\n
Xacro（XML Macros）\u662f ROS \u4e13\u4e3a\u89e3\u51b3\u7eaf URDF \u75db\u70b9\u8bbe\u8ba1\u7684\u5efa\u6a21\u683c\u5f0f，\u5b8c\u5168\u517c\u5bb9URDF\u6240\u6709\u8bed\u6cd5，\u6838\u5fc3\u65b0\u589e\u300c\u53c2\u6570\u5316\u3001\u5b8f\u590d\u7528\u3001\u6570\u5b66\u8fd0\u7b97\u300d\u4e09\u5927\u529f\u80fd，\u80fd\u5927\u5e45\u51cf\u5c11\u91cd\u590d\u4ee3\u7801\u3001\u964d\u4f4e\u4fee\u6539\u6210\u672c，\u662f\u590d\u6742\u673a\u5668\u4eba（\u516d\u8f74\u673a\u68b0\u81c2\u3001\u65e0\u4eba\u673a\u3001\u65e0\u4eba\u8f66）\u5efa\u6a21\u7684\u9996\u9009，\u4e0b\u9762\u4ece\u57fa\u7840\u5230\u8fdb\u9636\u3001\u8bed\u6cd5\u5230\u5b9e\u64cd\u3001\u907f\u5751\u5230\u8c03\u8bd5，\u4e00\u6b21\u6027\u8bb2\u900f\u3002<\/p>\n
\u00a0<\/p>\n
\u4e00\u3001 Xacro \u6838\u5fc3\u4f18\u52bf（\u5bf9\u6bd4URDF，\u4e3a\u5565\u5fc5\u5b66）<\/p>\n
\u00a0<\/p>\n
\u7eaf URDF \u5efa\u6a21\u76843\u4e2a\u81f4\u547d\u75db\u70b9，Xacro \u5168\u90e8\u89e3\u51b3，\u8fd9\u4e5f\u662f\u5b83\u6210\u4e3a\u4e3b\u6d41\u7684\u6838\u5fc3\u539f\u56e0：<\/p>\n
\u00a0<\/p>\n
1.\u00a0\u75db\u70b91：\u91cd\u590d\u4ee3\u7801\u8fc7\u591a（\u5982\u516d\u8f74\u673a\u68b0\u81c26\u4e2a\u8fde\u6746，\u8981\u51996\u5957\u51e0\u4e4e\u4e00\u6837\u7684\u00a0<link>\u00a0\u6807\u7b7e）\u2192 Xacro \u7528\u5b8f\u5c01\u88c5，1\u5957\u6a21\u677f\u91cd\u590d\u8c03\u7528，\u4ee3\u7801\u91cf\u51cf\u5c1180%<\/p>\n
2.\u00a0\u75db\u70b92：\u53c2\u6570\u786c\u7f16\u7801（\u6539\u8fde\u6746\u957f\u5ea6\u8981\u9010\u884c\u627e\u5bf9\u5e94\u00a0<cylinder>\u00a0\u6807\u7b7e）\u2192 Xacro \u7528\u5168\u5c40\u53c2\u6570，1\u5904\u4fee\u6539\u5168\u7a0b\u751f\u6548，\u96f6\u9057\u6f0f<\/p>\n
3.\u00a0\u75db\u70b93：\u65e0\u8fd0\u7b97\u80fd\u529b（\u5173\u8282\u4f4d\u7f6e\u8981\u624b\u52a8\u7b97\u201c\u5e95\u5ea7\u9ad8\u5ea6\/2+\u8fde\u6746\u957f\u5ea6\/2\u201d）\u2192 Xacro \u652f\u6301\u7b97\u672f\u8fd0\u7b97+\u5185\u7f6e\u5e38\u91cf，\u81ea\u52a8\u8ba1\u7b97，\u96f6\u51fa\u9519<\/p>\n
\u00a0<\/p>\n
\u989d\u5916\u4f18\u52bf：\u652f\u6301\u6a21\u5757\u5316\u62c6\u5206\u3001\u6761\u4ef6\u5224\u65ad，\u590d\u6742\u673a\u5668\u4eba（\u5982\u5e26\u5939\u722a\u7684\u673a\u68b0\u81c2）\u53ef\u5206\u6587\u4ef6\u7ba1\u7406，\u7ef4\u62a4\u66f4\u65b9\u4fbf\u3002<\/p>\n
\u00a0<\/p>\n
\u4e8c\u3001 Xacro \u57fa\u7840\u89c4\u8303（\u5fc5\u9075\u5b88，\u5426\u5219\u76f4\u63a5\u62a5\u9519）<\/p>\n
\u00a0<\/p>\n
1. \u6587\u4ef6\u683c\u5f0f\u8981\u6c42<\/p>\n
\u00a0<\/p>\n
– \u6587\u4ef6\u540e\u7f00：\u56fa\u5b9a\u4e3a \u00a0.xacro\u00a0（\u5982 \u00a0six_axis_arm.xacro\u00a0，\u5efa\u8bae\u547d\u540d\u89c1\u540d\u77e5\u610f，\u5173\u8054\u673a\u5668\u4eba\u7c7b\u578b）<\/p>\n
– \u7f16\u7801\u683c\u5f0f：UTF-8，\u907f\u514d\u4e2d\u6587\u4e71\u7801（\u6ce8\u91ca\u5c3d\u91cf\u7528\u82f1\u6587，\u51cf\u5c11\u62a5\u9519\u98ce\u9669）<\/p>\n
\u00a0<\/p>\n
2. \u6839\u6807\u7b7e\u6838\u5fc3（\u552f\u4e00\u5f3a\u5236\u8981\u6c42，\u91cd\u4e2d\u4e4b\u91cd）<\/p>\n
\u00a0<\/p>\n
Xacro \u662f URDF \u7684\u6269\u5c55，\u5fc5\u987b\u5728\u6839\u6807\u7b7e\u00a0<robot>\u00a0\u4e2d\u6dfb\u52a0 Xacro\u547d\u540d\u7a7a\u95f4\u58f0\u660e，\u5426\u5219 ROS \u89e3\u6790\u5668\u65e0\u6cd5\u8bc6\u522bXacro\u8bed\u6cd5，\u56fa\u5b9a\u683c\u5f0f\u4e0d\u80fd\u6539，\u590d\u5236\u76f4\u63a5\u7528：<\/p>\n
\u00a0<\/p>\n
xml<\/p>\n
<?xml version="1.0" encoding="UTF-8"?><\/p>\n
<!– \u6839\u6807\u7b7e：robot name\u81ea\u5b9a\u4e49（\u673a\u5668\u4eba\u540d\u79f0），\u547d\u540d\u7a7a\u95f4\u5fc5\u987b\u539f\u6837\u590d\u5236，\u4e0d\u80fd\u6539 –><\/p>\n
<robot name="my_six_arm" xmlns:xacro="http:\/\/wiki.ros.org\/xacro"><\/p>\n
\u00a0 \u00a0 <!– \u6240\u6709Xacro\u8bed\u6cd5 + URDF\u6807\u7b7e，\u90fd\u5d4c\u5957\u5728\u8fd9\u4e2a\u6807\u7b7e\u5185 –><\/p>\n
<\/robot><\/p>\n
\u00a0<\/p>\n
\u00a0<\/p>\n
3. Xacro \u4e0e URDF \u8f6c\u6362（ROS\u5fc5\u7528，2\u79cd\u65b9\u5f0f）<\/p>\n
\u00a0<\/p>\n
Xacro \u6587\u4ef6\u65e0\u6cd5\u88ab ROS \u76f4\u63a5\u89e3\u6790（RVIZ\/Gazebo\u53ea\u8ba4URDF），\u5fc5\u987b\u8f6c\u6362\u6210URDF\u683c\u5f0f，2\u79cd\u65b9\u5f0f\u6309\u9700\u9009，\u63a8\u8350\u7b2c\u4e8c\u79cd，\u9ad8\u6548\u65e0\u5197\u4f59<\/p>\n
\u00a0<\/p>\n
\u65b9\u5f0f1：\u547d\u4ee4\u884c\u624b\u52a8\u8f6c\u6362（\u751f\u6210\u6c38\u4e45URDF\u6587\u4ef6，\u9002\u5408\u8c03\u8bd5）<\/p>\n
\u00a0<\/p>\n
\u8bed\u6cd5：\u00a0xacro \u4f60\u7684Xacro\u6587\u4ef6\u8def\u5f84 > \u751f\u6210\u7684URDF\u6587\u4ef6\u8def\u5f84\u00a0<\/p>\n
\u793a\u4f8b（\u7ec8\u7aef\u6267\u884c，\u9002\u914d\u529f\u80fd\u5305\u76ee\u5f55）：<\/p>\n
\u00a0<\/p>\n
bash<\/p>\n
# \u8fdb\u5165\u529f\u80fd\u5305\u7684urdf\u76ee\u5f55（\u5148cd\u5230\u81ea\u5df1\u7684\u529f\u80fd\u5305\u4e0b）<\/p>\n
cd ~\/catkin_ws\/src\/my_arm\/urdf<\/p>\n
# \u8f6c\u6362：\u628asix_arm.xacro\u8f6c\u6362\u6210six_arm.urdf<\/p>\n
xacro six_arm.xacro > six_arm.urdf<\/p>\n
\u00a0<\/p>\n
\u00a0<\/p>\n
\u6821\u9a8c\u8f6c\u6362\u662f\u5426\u6210\u529f：\u00a0check_urdf six_arm.urdf\u00a0，\u8f93\u51falink\u548cjoint\u5217\u8868\u5373\u6210\u529f\u3002<\/p>\n
\u00a0<\/p>\n
\u65b9\u5f0f2：\u542f\u52a8\u6587\u4ef6\u76f4\u63a5\u8c03\u7528（\u4e34\u65f6\u8f6c\u6362，\u63a8\u8350\u5b9e\u6218\u7528）<\/p>\n
\u00a0<\/p>\n
\u5728launch\u542f\u52a8\u6587\u4ef6\u4e2d，\u7528\u00a0command\u00a0\u53c2\u6570\u8c03\u7528xacro\u5de5\u5177，\u542f\u52a8\u65f6\u81ea\u52a8\u8f6c\u6362，\u65e0\u9700\u624b\u52a8\u751f\u6210URDF，\u4fee\u6539Xacro\u540e\u91cd\u542flaunch\u5373\u751f\u6548，\u6548\u7387\u62c9\u6ee1：<\/p>\n
\u00a0<\/p>\n
xml<\/p>\n
<!– launch\u6587\u4ef6\u4e2d\u914d\u7f6e，\u76f4\u63a5\u590d\u5236\u9002\u914d –><\/p>\n
<launch><\/p>\n
\u00a0 \u00a0 <!– \u52a0\u8f7d\u673a\u5668\u4eba\u6a21\u578b：\u81ea\u52a8\u8f6c\u6362xacro\u4e3aurdf，\u65e0\u9700\u624b\u52a8\u751f\u6210 –><\/p>\n
\u00a0 \u00a0 <param name="robot_description"\u00a0<\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0command="$(find xacro)\/xacro '$(find my_arm)\/urdf\/six_arm.xacro'"\/><\/p>\n
<\/launch><\/p>\n
\u00a0<\/p>\n
\u00a0<\/p>\n
\u4e09\u3001 Xacro \u56db\u5927\u6838\u5fc3\u8bed\u6cd5（\u4ece\u6613\u5230\u96be，\u5168\u8986\u76d6，\u673a\u68b0\u81c2\u9ad8\u9891\u7528）<\/p>\n
\u00a0<\/p>\n
\u6240\u6709Xacro\u8bed\u6cd5\u90fd\u56f4\u7ed5\u300c\u7b80\u5316\u5efa\u6a21\u300d\u8bbe\u8ba1，\u6838\u5fc34\u4e2a\u8bed\u6cd5，\u5b66\u4f1a\u5c31\u80fd\u72ec\u7acb\u5efa\u590d\u6742\u673a\u5668\u4eba，\u6bcf\u4e2a\u8bed\u6cd5\u914d\u673a\u68b0\u81c2\u5b9e\u64cd\u793a\u4f8b，\u76f4\u63a5\u5957\u7528\u3002<\/p>\n
\u00a0<\/p>\n
\u8bed\u6cd51：\u5168\u5c40\u53c2\u6570\u5b9a\u4e49\u4e0e\u8c03\u7528（\u6700\u57fa\u7840，\u5fc5\u5b66）<\/p>\n
\u00a0<\/p>\n
\u6838\u5fc3\u4f5c\u7528：\u5c06\u673a\u5668\u4eba\u7684\u901a\u7528\u53c2\u6570（\u8fde\u6746\u957f\u5ea6\/\u534a\u5f84\u3001\u8d28\u91cf\u3001\u5173\u8282\u89d2\u5ea6\u3001\u9650\u4f4d\u503c）\u7edf\u4e00\u5b9a\u4e49，\u540e\u7eed\u76f4\u63a5\u8c03\u7528，\u6539\u53c2\u6570\u53ea\u65391\u5904，\u907f\u514d\u5168\u5c40\u4fee\u6539\u9057\u6f0f\u3002<\/p>\n
\u00a0<\/p>\n
1. \u53c2\u6570\u5b9a\u4e49（3\u79cd\u65b9\u5f0f，\u6309\u9700\u9009\u62e9）<\/p>\n
\u00a0<\/p>\n
\u672c\u8d28\u662f\u300c\u5b9a\u4e49\u53d8\u91cf\u300d，\u53d8\u91cf\u540d\u81ea\u5b9a\u4e49，\u503c\u7684\u5355\u4f4d\u548cURDF\u4e00\u81f4（\u957f\u5ea6m\u3001\u8d28\u91cfkg\u3001\u89d2\u5ea6rad\u3001\u529bN\u00b7m）<\/p>\n
\u00a0<\/p>\n
– \u65b9\u5f0f1：\u5355\u53c2\u6570\u5b9a\u4e49（\u6700\u5e38\u7528，\u9002\u5408\u96f6\u6563\u53c2\u6570）<\/p>\n
\u683c\u5f0f：\u00a0<xacro:property name="\u53c2\u6570\u540d" value="\u53c2\u6570\u503c"\/>\u00a0<\/p>\n
\u7279\u70b9：\u4e00\u884c\u5b9a\u4e49\u4e00\u4e2a\u53c2\u6570，\u7b80\u6d01\u76f4\u89c2，\u9002\u5408\u8fde\u6746\u957f\u5ea6\u3001\u534a\u5f84\u3001\u5173\u8282\u9650\u4f4d\u7b49\u72ec\u7acb\u53c2\u6570<\/p>\n
– \u65b9\u5f0f2：\u5757\u53c2\u6570\u5b9a\u4e49（\u9002\u5408\u4e00\u7ec4\u5173\u8054\u53c2\u6570，\u5982\u5173\u8282\u9650\u4f4d\u3001\u60ef\u6027\u77e9\u9635）<\/p>\n
\u683c\u5f0f：\u5c06\u4e00\u7ec4\u5173\u8054\u53c2\u6570\u5c01\u88c5\u6210\u5757，\u901a\u8fc7\u300c\u53c2\u6570\u7ec4\u540d.\u5b50\u9879\u540d\u300d\u8c03\u7528，\u907f\u514d\u96f6\u6563\u53c2\u6570\u8fc7\u591a\u6df7\u4e71<\/p>\n
xml<\/p>\n
<xacro:property name="joint_limit"> <!– \u53c2\u6570\u7ec4\u540d：joint_limit –><\/p>\n
\u00a0 \u00a0 <lower>-3.14<\/lower> <!– \u5b50\u98791：\u5173\u8282\u6700\u5c0f\u89d2\u5ea6 –><\/p>\n
\u00a0 \u00a0 <upper>3.14<\/upper> <!– \u5b50\u98792：\u5173\u8282\u6700\u5927\u89d2\u5ea6 –><\/p>\n
\u00a0 \u00a0 <effort>3<\/effort> <!– \u5b50\u98793：\u5173\u8282\u6700\u5927\u626d\u77e9 –><\/p>\n
\u00a0 \u00a0 <velocity>2<\/velocity><!– \u5b50\u98794：\u5173\u8282\u6700\u5927\u89d2\u901f\u5ea6 –><\/p>\n
<\/xacro:property><\/p>\n
\u00a0<\/p>\n
– \u65b9\u5f0f3：\u5f15\u7528\u53c2\u6570\u5b9a\u4e49（\u9002\u5408\u590d\u7528\u5df2\u6709\u53c2\u6570，\u51cf\u5c11\u91cd\u590d\u5b9a\u4e49）<\/p>\n
\u683c\u5f0f：\u00a0<xacro:property name="\u65b0\u53c2\u6570\u540d" value="${\u5df2\u6709\u53c2\u6570\u540d}"\/>\u00a0<\/p>\n
\u793a\u4f8b：\u00a0<xacro:property name="link2_len" value="${link1_len}"\/>\u00a0（link2\u957f\u5ea6\u590d\u7528link1\u957f\u5ea6）<\/p>\n
\u00a0<\/p>\n
2. \u53c2\u6570\u8c03\u7528（\u56fa\u5b9a\u683c\u5f0f，\u65e0\u4f8b\u5916）<\/p>\n
\u00a0<\/p>\n
\u683c\u5f0f：\u00a0${\u53c2\u6570\u540d}\u00a0，\u76f4\u63a5\u5d4c\u5165\u5230URDF\u6807\u7b7e\u7684\u5c5e\u6027\u503c\u4e2d，\u652f\u6301\u5d4c\u5957\u8c03\u7528（\u5757\u53c2\u6570\u7528\u00a0${\u53c2\u6570\u7ec4\u540d.\u5b50\u9879\u540d}\u00a0）<\/p>\n
\u00a0<\/p>\n
3. \u673a\u68b0\u81c2\u5b9e\u64cd\u793a\u4f8b（\u76f4\u63a5\u590d\u5236\u7528）<\/p>\n
\u00a0<\/p>\n
xml<\/p>\n
<!– 1. \u5b9a\u4e49\u5168\u5c40\u53c2\u6570（\u673a\u68b0\u81c2\u901a\u7528，\u4e00\u6b21\u5b9a\u4e49，\u5168\u7a0b\u8c03\u7528） –><\/p>\n
<xacro:property name="base_size" value="0.2 0.2 0.08"\/> <!– \u5e95\u5ea7\u957f\u5bbd\u9ad8：x y z –><\/p>\n
<xacro:property name="link1_len" value="0.15"\/> <!– \u8fde\u67461\u957f\u5ea6 –><\/p>\n
<xacro:property name="link2_len" value="0.14"\/> <!– \u8fde\u67462\u957f\u5ea6 –><\/p>\n
<xacro:property name="link_radius" value="0.02"\/> <!– \u6240\u6709\u8fde\u6746\u534a\u5f84（\u7edf\u4e00） –><\/p>\n
<xacro:property name="link_mass" value="0.2"\/> <!– \u5355\u4e2a\u8fde\u6746\u8d28\u91cf –><\/p>\n
<xacro:property name="pi" value="3.1415926"\/> <!– \u624b\u52a8\u5b9a\u4e49\u03c0，\u4e5f\u53ef\u76f4\u63a5\u7528\u5185\u7f6epi –><\/p>\n
\u00a0<\/p>\n
<!– \u5757\u53c2\u6570\u5b9a\u4e49：\u5173\u8282\u901a\u7528\u9650\u4f4d –><\/p>\n
<xacro:property name="joint_limit"><\/p>\n
\u00a0 \u00a0 <lower>-${pi}<\/lower><\/p>\n
\u00a0 \u00a0 <upper>${pi}<\/upper><\/p>\n
\u00a0 \u00a0 <effort>3<\/effort><\/p>\n
\u00a0 \u00a0 <velocity>2<\/velocity><\/p>\n
<\/xacro:property><\/p>\n
\u00a0<\/p>\n
<!– 2. \u8c03\u7528\u53c2\u6570（\u66ff\u4ee3\u786c\u7f16\u7801，\u4fee\u6539\u65f6\u53ea\u6539\u4e0a\u9762\u7684\u53c2\u6570\u5373\u53ef） –><\/p>\n
<!– \u5e95\u5ea7link：\u8c03\u7528base_size\u53c2\u6570 –><\/p>\n
<link name="base_link"><\/p>\n
\u00a0 \u00a0 <visual><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <geometry><box size="${base_size}"\/><\/geometry> <!– \u8c03\u7528\u5168\u5c40\u53c2\u6570 –><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <material name="gray"><color rgba="0.5 0.5 0.5 1"\/><\/material><\/p>\n
\u00a0 \u00a0 <\/visual><\/p>\n
<\/link><\/p>\n
<!– \u8fde\u67461 link：\u8c03\u7528link1_len\u3001link_radius\u3001link_mass\u53c2\u6570 –><\/p>\n
<link name="link1"><\/p>\n
\u00a0 \u00a0 <visual><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <geometry><cylinder length="${link1_len}" radius="${link_radius}"\/><\/geometry><\/p>\n
\u00a0 \u00a0 <\/visual><\/p>\n
\u00a0 \u00a0 <inertial><mass value="${link_mass}"\/><\/inertial> <!– \u8c03\u7528\u8d28\u91cf\u53c2\u6570 –><\/p>\n
<\/link><\/p>\n
<!– \u5173\u82821：\u8c03\u7528\u5757\u53c2\u6570joint_limit\u7684\u5b50\u9879 –><\/p>\n
<joint name="joint_base_link1" type="revolute"><\/p>\n
\u00a0 \u00a0 <limit lower="${joint_limit.lower}" upper="${joint_limit.upper}"\u00a0<\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0effort="${joint_limit.effort}" velocity="${joint_limit.velocity}"\/><\/p>\n
<\/joint><\/p>\n
\u00a0<\/p>\n
\u00a0<\/p>\n
\u8bed\u6cd52： \u6570\u5b66\u8fd0\u7b97（\u6838\u5fc3\u52a0\u5206\u9879，\u544a\u522b\u624b\u52a8\u8ba1\u7b97）<\/p>\n
\u00a0<\/p>\n
Xacro \u652f\u6301\u76f4\u63a5\u5bf9\u53c2\u6570\u505a\u7b97\u672f\u8fd0\u7b97，\u65e0\u9700\u63d0\u524d\u624b\u52a8\u8ba1\u7b97\u6570\u503c（\u5982\u5173\u8282\u4f4d\u7f6e=\u5e95\u5ea7\u9ad8\u5ea6\/2+\u8fde\u6746\u957f\u5ea6\/2），\u51cf\u5c11\u8ba1\u7b97\u9519\u8bef，\u9002\u914d\u673a\u68b0\u81c2\u5173\u8282\u4f4d\u59ff\u3001\u8fde\u6746\u5c3a\u5bf8\u7684\u52a8\u6001\u8c03\u6574\u3002<\/p>\n
\u00a0<\/p>\n
1. \u652f\u6301\u7684\u8fd0\u7b97（\u4f18\u5148\u7ea7\u548c\u6570\u5b66\u4e00\u81f4，\u591f\u7528\u5c31\u884c）<\/p>\n
\u00a0<\/p>\n
– \u57fa\u7840\u8fd0\u7b97：\u00a0+（\u52a0）\u3001-（\u51cf）\u3001*（\u4e58）\u3001\/（\u9664）\u00a0<\/p>\n
– \u4f18\u5148\u7ea7\u63a7\u5236：\u7528\u00a0()\u00a0\u62ec\u53f7\u63d0\u5347\u4f18\u5148\u7ea7（\u5982\u00a0${(a+b)\/2}\u00a0，\u5148\u52a0\u540e\u9664）<\/p>\n
– \u5185\u7f6e\u5e38\u91cf：\u76f4\u63a5\u7528\u00a0pi\u00a0（\u4ee3\u8868\u5706\u5468\u7387\u03c0，\u22483.1415926），\u65e0\u9700\u624b\u52a8\u5b9a\u4e49<\/p>\n
\u00a0<\/p>\n
2. \u673a\u68b0\u81c2\u9ad8\u9891\u4f7f\u7528\u573a\u666f（\u6838\u5fc3\u662f\u5173\u8282origin\u4f4d\u59ff\u8ba1\u7b97）<\/p>\n
\u00a0<\/p>\n
\u673a\u68b0\u81c2\u5173\u8282\u7684\u521d\u59cb\u4f4d\u7f6e，\u5927\u591a\u9700\u8981\u8ba1\u7b97\u300c\u5e95\u5ea7\u9ad8\u5ea6\u7684\u4e00\u534a+\u8fde\u6746\u957f\u5ea6\u7684\u4e00\u534a\u300d，\u7528\u6570\u5b66\u8fd0\u7b97\u76f4\u63a5\u5199，\u4e0d\u7528\u624b\u52a8\u7b97\u6570\u503c，\u793a\u4f8b\u5982\u4e0b：<\/p>\n
\u00a0<\/p>\n
xml<\/p>\n
<!– \u5b9a\u4e49\u57fa\u7840\u53c2\u6570 –><\/p>\n
<xacro:property name="base_height" value="0.08"\/> <!– \u5e95\u5ea7\u9ad8\u5ea60.08m –><\/p>\n
<xacro:property name="link1_len" value="0.15"\/> <!– \u8fde\u67461\u957f\u5ea60.15m –><\/p>\n
\u00a0<\/p>\n
<!– \u5173\u8282origin z\u8f74\u504f\u79fb：\u5e95\u5ea7\u9ad8\u5ea6\/2 + \u8fde\u6746\u957f\u5ea6\/2，\u76f4\u63a5\u8fd0\u7b97，\u65e0\u9700\u624b\u52a8\u7b970.04+0.075=0.115 –><\/p>\n
<joint name="joint_base_link1" type="revolute"><\/p>\n
\u00a0 \u00a0 <!– xyz：x=0,y=0,z=\u5e95\u5ea7\u534a\u9ad8+\u8fde\u6746\u534a\u9ad8，\u81ea\u52a8\u8ba1\u7b97 –><\/p>\n
\u00a0 \u00a0 <origin xyz="0 0 ${base_height\/2 + link1_len\/2}" rpy="0 0 0"\/><\/p>\n
\u00a0 \u00a0 <axis xyz="0 0 1"\/> <!– \u7ed5z\u8f74\u65cb\u8f6c –><\/p>\n
\u00a0 \u00a0 <limit lower="-pi" upper="pi"\/> <!– \u76f4\u63a5\u7528\u5185\u7f6epi，\u4ee3\u8868\u00b1180\u00b0 –><\/p>\n
<\/joint><\/p>\n
\u00a0<\/p>\n
<!– \u590d\u6742\u8fd0\u7b97：\u5e26\u62ec\u53f7，\u5148\u7b97\u51cf\u6cd5\u518d\u7b97\u9664\u6cd5 –><\/p>\n
<xacro:property name="link2_len" value="0.14"\/><\/p>\n
<joint name="joint1_link2" type="revolute"><\/p>\n
\u00a0 \u00a0 <origin xyz="0 0 ${(link1_len – link2_len)\/2 + link2_len\/2}" rpy="0 0 0"\/><\/p>\n
<\/joint><\/p>\n
\u00a0<\/p>\n
\u00a0<\/p>\n
\u8bed\u6cd53： \u5b8f\u5b9a\u4e49\u4e0e\u8c03\u7528（Xacro\u6838\u5fc3，\u590d\u6742\u5efa\u6a21\u5fc5\u5907）<\/p>\n
\u00a0<\/p>\n
\u6838\u5fc3\u4f5c\u7528：\u5c06\u673a\u5668\u4eba\u4e2d\u91cd\u590d\u7684\u7ed3\u6784（\u5982\u673a\u68b0\u81c2\u7684\u201c\u8fde\u6746+\u5173\u8282\u201d\u7ec4\u5408\u3001\u65e0\u4eba\u8f66\u7684\u8f6e\u5b50+\u60ac\u6302）\u5c01\u88c5\u6210\u300c\u5b8f\u6a21\u677f\u300d，\u540e\u7eed\u8c03\u7528\u65f6\u53ea\u9700\u4f20\u53c2\u6570，\u65e0\u9700\u91cd\u590d\u5199\u76f8\u540c\u4ee3\u7801，\u516d\u8f74\u673a\u68b0\u81c26\u4e2a\u5173\u8282，\u7528\u5b8f\u53ea\u9700\u8c03\u75286\u6b21，\u4ee3\u7801\u91cf\u76f4\u63a5\u51cf\u534a\u3002<\/p>\n
\u00a0<\/p>\n
1. \u5b8f\u5b9a\u4e49（\u5c01\u88c5\u91cd\u590d\u7ed3\u6784，\u56fa\u5b9a\u683c\u5f0f，3\u4e2a\u6838\u5fc3\u8981\u7d20）<\/p>\n
\u00a0<\/p>\n
\u683c\u5f0f：\u00a0<xacro:macro name="\u5b8f\u540d" params="\u53c2\u6570\u5217\u8868"> \u5c01\u88c5\u7684\u91cd\u590d\u4ee3\u7801 <\/xacro:macro>\u00a0<\/p>\n
\u00a0<\/p>\n
– \u6838\u5fc3\u8981\u7d201：\u00a0name\u00a0 \u2192 \u5b8f\u540d\u79f0（\u81ea\u5b9a\u4e49，\u89c1\u540d\u77e5\u610f，\u5982\u00a0arm_link_joint\u00a0，\u4ee3\u8868\u673a\u68b0\u81c2\u8fde\u6746+\u5173\u8282）<\/p>\n
– \u6838\u5fc3\u8981\u7d202：\u00a0params\u00a0 \u2192 \u5b8f\u7684\u8f93\u5165\u53c2\u6570（\u5fc5\u586b！\u591a\u4e2a\u53c2\u6570\u7528\u7a7a\u683c\u5206\u9694，\u5982\u00a0link_name parent_link child_link link_len\u00a0），\u53c2\u6570\u662f\u5c01\u88c5\u7ed3\u6784\u7684\u53ef\u53d8\u90e8\u5206（\u5982\u8fde\u6746\u540d\u3001\u7236link\u3001\u5b50link\u3001\u8fde\u6746\u957f\u5ea6）<\/p>\n
– \u6838\u5fc3\u8981\u7d203： \u5c01\u88c5\u5185\u5bb9 \u2192 \u91cd\u590d\u7684URDF\u7ed3\u6784（\u59821\u4e2a\u00a0<link>\u00a0+1\u4e2a\u00a0<joint>\u00a0），\u53ef\u53d8\u90e8\u5206\u7528\u00a0${\u53c2\u6570\u540d}\u00a0\u5360\u4f4d<\/p>\n
\u00a0<\/p>\n
2. \u5b8f\u8c03\u7528（\u4e00\u952e\u590d\u7528，\u4f20\u53c2\u5373\u53ef，\u65e0\u95e8\u69db）<\/p>\n
\u00a0<\/p>\n
\u683c\u5f0f：\u00a0<xacro:\u5b8f\u540d \u53c2\u65701="\u503c1" \u53c2\u65702="\u503c2" …\/>\u00a0，\u6309\u5b8f\u5b9a\u4e49\u7684\u00a0params\u00a0\u987a\u5e8f\u4f20\u53c2，\u53c2\u6570\u540d\u5fc5\u987b\u548c\u5b9a\u4e49\u4e00\u81f4，\u5c11\u4f20\u4f1a\u62a5\u9519<\/p>\n
\u00a0<\/p>\n
3. \u673a\u68b0\u81c2\u6838\u5fc3\u5b9e\u64cd\u793a\u4f8b（\u516d\u8f74\u673a\u68b0\u81c2\u5fc5\u7528，\u76f4\u63a5\u590d\u5236）<\/p>\n
\u00a0<\/p>\n
\u673a\u68b0\u81c2\u7684\u6838\u5fc3\u7ed3\u6784\u662f\u300c1\u4e2a\u8fde\u6746（link）+1\u4e2a\u65cb\u8f6c\u5173\u8282（joint）\u300d，6\u4e2a\u5173\u8282\u7ed3\u6784\u5b8c\u5168\u4e00\u81f4，\u4ec5\u8fde\u6746\u957f\u5ea6\u3001\u540d\u79f0\u4e0d\u540c，\u7528\u5b8f\u5c01\u88c5\u540e，\u8c03\u75286\u6b21\u5373\u53ef\u5b8c\u6210\u5efa\u6a21，\u6548\u7387\u62c9\u6ee1：<\/p>\n
\u00a0<\/p>\n
xml<\/p>\n
<!– \u5148\u5b9a\u4e49\u5168\u5c40\u901a\u7528\u53c2\u6570（\u5b8f\u4e2d\u53ef\u76f4\u63a5\u8c03\u7528） –><\/p>\n
<xacro:property name="link_radius" value="0.02"\/> <!– \u8fde\u6746\u534a\u5f84\u7edf\u4e00 –><\/p>\n
<xacro:property name="link_mass" value="0.2"\/> <!– \u8fde\u6746\u8d28\u91cf\u7edf\u4e00 –><\/p>\n
\u00a0<\/p>\n
<!– \u5b9a\u4e49\u5b8f：\u5c01\u88c5\u300c\u8fde\u6746link + \u65cb\u8f6c\u5173\u8282joint\u300d，\u9002\u914d\u516d\u8f74\u673a\u68b0\u81c2\u6240\u6709\u5173\u8282 –><\/p>\n
<!– params：\u5b8f\u7684\u8f93\u5165\u53c2\u6570（link_name：\u8fde\u6746\u540d；parent\/child：\u7236\u5b50link；link_len：\u8fde\u6746\u957f；joint_name：\u5173\u8282\u540d） –><\/p>\n
<xacro:macro name="arm_single_joint" params="link_name parent_link child_link link_len joint_name"><\/p>\n
\u00a0 \u00a0 <!– 1. \u5c01\u88c5\u8fde\u6746link（\u5706\u67f1\u4f53，\u53ef\u53d8\u53c2\u6570：link_name\u3001link_len，\u5176\u4f59\u56fa\u5b9a） –><\/p>\n
\u00a0 \u00a0 <link name="${link_name}"><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <!– \u53ef\u89c6\u5316\u5c5e\u6027（rviz\u663e\u793a） –><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <visual><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 <origin xyz="0 0 0" rpy="0 0 0"\/><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 <geometry><cylinder length="${link_len}" radius="${link_radius}"\/><\/geometry><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 <material name="gray"><color rgba="0.5 0.5 0.5 1"\/><\/material><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <\/visual><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <!– \u78b0\u649e\u5c5e\u6027（gazebo\u4eff\u771f\/\u78b0\u649e\u68c0\u6d4b，\u548cvisual\u4e00\u81f4\u5373\u53ef） –><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <collision><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 <geometry><cylinder length="${link_len}" radius="${link_radius}"\/><\/geometry><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <\/collision><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <!– \u60ef\u6027\u5c5e\u6027（gazebo\u4eff\u771f\u5fc5\u9700，\u5426\u5219\u6a21\u578b\u6d6e\u7a7a，\u53c2\u6570\u56fa\u5b9a\u5373\u53ef） –><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <inertial><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 <mass value="${link_mass}"\/><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 <origin xyz="0 0 0" rpy="0 0 0"\/><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.0005"\/><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <\/inertial><\/p>\n
\u00a0 \u00a0 <\/link><\/p>\n
\u00a0<\/p>\n
\u00a0 \u00a0 <!– 2. \u5c01\u88c5\u65cb\u8f6c\u5173\u8282joint（\u53ef\u53d8\u53c2\u6570：parent\/child\u3001joint_name，\u5176\u4f59\u56fa\u5b9a） –><\/p>\n
\u00a0 \u00a0 <joint name="${joint_name}" type="revolute"><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <parent link="${parent_link}"\/> <!– \u7236link（\u53ef\u53d8） –><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <child link="${child_link}"\/> <!– \u5b50link（\u53ef\u53d8） –><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <origin xyz="0 0 ${link_len\/2}" rpy="0 0 0"\/> <!– \u5173\u8282\u5728\u8fde\u6746\u4e2d\u70b9，\u81ea\u52a8\u8ba1\u7b97 –><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <axis xyz="0 0 1"\/> <!– \u7ed5z\u8f74\u65cb\u8f6c（\u53ef\u540e\u7eed\u6539\u6210\u53c2\u6570，\u9002\u914d\u4e0d\u540c\u5173\u8282\u8f74） –><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <limit lower="-pi" upper="pi" effort="3" velocity="2"\/> <!– \u5173\u8282\u9650\u4f4d\u56fa\u5b9a –><\/p>\n
\u00a0 \u00a0 <\/joint><\/p>\n
<\/xacro:macro><\/p>\n
\u00a0<\/p>\n
<!– \u8c03\u7528\u5b8f：\u516d\u8f74\u673a\u68b0\u81c2，\u8c03\u75286\u6b21\u5373\u53ef，\u65e0\u9700\u51996\u5957link+joint，\u6781\u7b80\u9ad8\u6548 –><\/p>\n
<!– \u5173\u82821：\u5e95\u5ea7\u2192\u8fde\u67461，\u8fde\u6746\u957f0.15m –><\/p>\n
<xacro:arm_single_joint link_name="link1" parent_link="base_link" child_link="link1" link_len="0.15" joint_name="joint_base_link1"\/><\/p>\n
<!– \u5173\u82822：\u8fde\u67461\u2192\u8fde\u67462，\u8fde\u6746\u957f0.14m –><\/p>\n
<xacro:arm_single_joint link_name="link2" parent_link="link1" child_link="link2" link_len="0.14" joint_name="joint1_link2"\/><\/p>\n
<!– \u5173\u82823：\u8fde\u67462\u2192\u8fde\u67463，\u8fde\u6746\u957f0.13m –><\/p>\n
<xacro:arm_single_joint link_name="link3" parent_link="link2" child_link="link3" link_len="0.13" joint_name="joint2_link3"\/><\/p>\n
<!– \u5173\u82824：\u8fde\u67463\u2192\u8fde\u67464，\u8fde\u6746\u957f0.12m –><\/p>\n
<xacro:arm_single_joint link_name="link4" parent_link="link3" child_link="link4" link_len="0.12" joint_name="joint3_link4"\/><\/p>\n
<!– \u5173\u82825：\u8fde\u67464\u2192\u8fde\u67465，\u8fde\u6746\u957f0.10m –><\/p>\n
<xacro:arm_single_joint link_name="link5" parent_link="link4" child_link="link5" link_len="0.10" joint_name="joint4_link5"\/><\/p>\n
<!– \u5173\u82826：\u8fde\u67465\u2192\u8fde\u67466（\u672b\u7aef），\u8fde\u6746\u957f0.08m –><\/p>\n
<xacro:arm_single_joint link_name="link6" parent_link="link5" child_link="link6" link_len="0.08" joint_name="joint5_link6"\/><\/p>\n
\u00a0<\/p>\n
\u00a0<\/p>\n
\u8bed\u6cd54： \u8f85\u52a9\u8bed\u6cd5（\u63d0\u5347\u7075\u6d3b\u6027，\u590d\u6742\u5efa\u6a21\u5fc5\u7528）<\/p>\n
\u00a0<\/p>\n
\u9664\u4e86\u4e09\u5927\u6838\u5fc3\u8bed\u6cd5，Xacro\u8fd8\u67092\u4e2a\u9ad8\u9891\u8f85\u52a9\u8bed\u6cd5，\u9002\u914d\u590d\u6742\u673a\u5668\u4eba\u5efa\u6a21，\u63d0\u5347\u4ee3\u7801\u53ef\u8bfb\u6027\u548c\u7ef4\u62a4\u6027\u3002<\/p>\n
\u00a0<\/p>\n
1. \u6587\u4ef6\u5305\u542b（\u00a0<xacro:include>\u00a0）：\u6a21\u5757\u5316\u62c6\u5206<\/p>\n
\u00a0<\/p>\n
\u6838\u5fc3\u4f5c\u7528：\u5c06\u590d\u6742\u673a\u5668\u4eba\u62c6\u5206\u6210\u591a\u4e2a\u5b50Xacro\u6587\u4ef6（\u5982\u5e95\u5ea7\u3001\u673a\u68b0\u81c2\u4e3b\u4f53\u3001\u672b\u7aef\u5939\u722a\u5206\u522b\u5199），\u518d\u901a\u8fc7\u00a0<xacro:include>\u00a0\u5f15\u5165\u4e3b\u6587\u4ef6，\u907f\u514d\u5355\u4e2a\u6587\u4ef6\u4ee3\u7801\u8fc7\u957f，\u7ef4\u62a4\u66f4\u65b9\u4fbf\u3002<\/p>\n
\u683c\u5f0f：\u00a0<xacro:include filename="\u5b50Xacro\u6587\u4ef6\u8def\u5f84"\/>\u00a0（\u8def\u5f84\u7528\u7edd\u5bf9\u8def\u5f84\u6216\u529f\u80fd\u5305\u76f8\u5bf9\u8def\u5f84）<\/p>\n
\u793a\u4f8b（\u5e26\u5939\u722a\u7684\u673a\u68b0\u81c2，\u52063\u4e2a\u6587\u4ef6）：<\/p>\n
\u00a0<\/p>\n
xml<\/p>\n
<!– \u4e3b\u6587\u4ef6：six_arm_main.xacro –><\/p>\n
<robot name="six_arm_with_gripper" xmlns:xacro="http:\/\/wiki.ros.org\/xacro"><\/p>\n
\u00a0 \u00a0 <!– \u5f15\u5165\u5b50\u6587\u4ef6：\u5e95\u5ea7\u3001\u673a\u68b0\u81c2\u4e3b\u4f53\u3001\u672b\u7aef\u5939\u722a –><\/p>\n
\u00a0 \u00a0 <xacro:include filename="$(find my_arm)\/urdf\/sub\/base.xacro"\/><\/p>\n
\u00a0 \u00a0 <xacro:include filename="$(find my_arm)\/urdf\/sub\/arm_body.xacro"\/><\/p>\n
\u00a0 \u00a0 <xacro:include filename="$(find my_arm)\/urdf\/sub\/gripper.xacro"\/><\/p>\n
<\/robot><\/p>\n
\u00a0<\/p>\n
\u00a0<\/p>\n
2. \u6761\u4ef6\u5224\u65ad（\u00a0<xacro:if>\u00a0）：\u6309\u9700\u751f\u6210\u7ed3\u6784<\/p>\n
\u00a0<\/p>\n
\u6838\u5fc3\u4f5c\u7528：\u6839\u636e\u6761\u4ef6\u5224\u65ad\u662f\u5426\u751f\u6210\u67d0\u90e8\u5206\u7ed3\u6784（\u5982\u533a\u5206\u5de6\u53f3\u8fde\u6746\u3001\u662f\u5426\u52a0\u8f7d\u5939\u722a），\u9002\u914d\u4e2a\u6027\u5316\u5efa\u6a21\u9700\u6c42\u3002<\/p>\n
\u683c\u5f0f：\u00a0<xacro:if value="${\u5224\u65ad\u6761\u4ef6}"> \u6ee1\u8db3\u6761\u4ef6\u65f6\u6267\u884c\u7684\u4ee3\u7801 <\/xacro:if>\u00a0<\/p>\n
\u5224\u65ad\u6761\u4ef6：\u652f\u6301\u00a0>\u00a0（\u5927\u4e8e）\u3001\u00a0<\u00a0（\u5c0f\u4e8e）\u3001\u00a0==\u00a0（\u7b49\u4e8e）\u3001\u00a0!=\u00a0（\u4e0d\u7b49\u4e8e）<\/p>\n
\u793a\u4f8b（\u6839\u636e\u8fde\u6746\u957f\u5ea6\u5224\u65ad\u662f\u5426\u7528\u7ea2\u8272\u6750\u8d28）：<\/p>\n
\u00a0<\/p>\n
xml<\/p>\n
<xacro:property name="link_len" value="0.15"\/><\/p>\n
<link name="link1"><\/p>\n
\u00a0 \u00a0 <visual><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <geometry><cylinder length="${link_len}" radius="0.02"\/><\/geometry><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <!– \u6761\u4ef6\u5224\u65ad：\u8fde\u6746\u957f\u5ea6>0.12m，\u7528\u7ea2\u8272；\u5426\u5219\u7528\u7070\u8272 –><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <xacro:if value="${link_len > 0.12}"><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 <material name="red"><color rgba="1 0 0 1"\/><\/material><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <\/xacro:if><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <xacro:if value="${link_len <= 0.12}"><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 \u00a0 \u00a0 <material name="gray"><color rgba="0.5 0.5 0.5 1"\/><\/material><\/p>\n
\u00a0 \u00a0 \u00a0 \u00a0 <\/xacro:if><\/p>\n
\u00a0 \u00a0 <\/visual><\/p>\n
<\/link><\/p>\n
\u00a0<\/p>\n
\u00a0<\/p>\n
\u56db\u3001 Xacro \u5efa\u6a21\u907f\u5751\u6307\u5357（\u65b0\u624b\u5fc5\u770b，\u5c11\u8d7090%\u5f2f\u8def）<\/p>\n
\u00a0<\/p>\n
1.\u00a0\u547d\u540d\u7a7a\u95f4\u6f0f\u52a0 \u2192 \u62a5\u9519\u201cinvalid element\u201d：\u6839\u6807\u7b7e\u00a0<robot>\u00a0\u5fc5\u987b\u52a0\u00a0xmlns:xacro="http:\/\/wiki.ros.org\/xacro"\u00a0，\u590d\u5236\u7c98\u8d34\u6700\u7a33\u59a5，\u4e0d\u8981\u624b\u52a8\u5199<\/p>\n
2.\u00a0\u53c2\u6570\u8c03\u7528\u6f0f\u5927\u62ec\u53f7 \u2192 \u89e3\u6790\u6210\u5b57\u7b26\u4e32，\u6a21\u578b\u9519\u4e71：\u8c03\u7528\u53c2\u6570\u5fc5\u987b\u7528\u00a0${\u53c2\u6570\u540d}\u00a0，\u7f3a\u4e00\u4e0d\u53ef（\u5982\u00a0${link_len}\u00a0，\u4e0d\u662f\u00a0link_len\u00a0）<\/p>\n
3.\u00a0\u5b8f\u8c03\u7528\u5c11\u4f20\u53c2\u6570 \u2192 \u62a5\u9519\u201cmissing parameter\u201d：\u8c03\u7528\u5b8f\u65f6，\u00a0params\u00a0\u5b9a\u4e49\u7684\u6240\u6709\u53c2\u6570\u5fc5\u987b\u4f20\u503c，\u4e00\u4e2a\u90fd\u4e0d\u80fd\u5c11<\/p>\n
4.\u00a0\u8fd0\u7b97\u4f18\u5148\u7ea7\u6df7\u4e71 \u2192 \u5173\u8282\u4f4d\u7f6e\u9519\u8bef：\u590d\u6742\u8fd0\u7b97\u4e00\u5b9a\u8981\u7528\u00a0()\u00a0\u62ec\u53f7\u660e\u786e\u4f18\u5148\u7ea7（\u5982\u00a0${(a+b)*c}\u00a0，\u4e0d\u8981\u5199\u00a0${a+b*c}\u00a0）<\/p>\n
5.\u00a0\u673a\u5668\u4eba\u7ed3\u6784\u95ed\u73af \u2192 \u62a5\u9519\u201cinvalid tree structure\u201d：\u548cURDF\u4e00\u6837，Xacro\u5efa\u6a21\u5fc5\u987b\u662f\u6811\u72b6\u7ed3\u6784，\u4ee5\u00a0base_link\u00a0\u4e3a\u6839\u8282\u70b9，\u6bcf\u4e2a\u5b50link\u53ea\u80fd\u67091\u4e2a\u7236link，\u4e0d\u80fd\u51fa\u73b0A\u2192B\u2192C\u2192A\u7684\u95ed\u73af<\/p>\n
6.\u00a0Gazebo\u4eff\u771f\u6a21\u578b\u6d6e\u7a7a \u2192 \u60ef\u6027\u5c5e\u6027\u7f3a\u5931：\u6240\u6709\u8fd0\u52a8\u7684link\u5fc5\u987b\u52a0\u00a0<inertial>\u00a0\u6807\u7b7e（\u5b8f\u5c01\u88c5\u65f6\u4e00\u5b9a\u8981\u5305\u542b），\u56fa\u5b9alink（\u5982\u5e95\u5ea7）\u53ef\u7701\u7565<\/p>\n
7.\u00a0\u4e2d\u6587\u6ce8\u91ca\u4e71\u7801 \u2192 \u89e3\u6790\u62a5\u9519：\u6587\u4ef6\u7f16\u7801\u8bbe\u4e3aUTF-8，\u6ce8\u91ca\u5c3d\u91cf\u7528\u82f1\u6587，\u907f\u514d\u4e2d\u6587\u4e71\u7801<\/p>\n
\u00a0<\/p>\n
\u4e94\u3001 Xacro \u5b8c\u6574\u6d41\u7a0b（\u4ece\u5efa\u6a21\u5230RVIZ\u663e\u793a，\u95ed\u73af\u5b9e\u64cd）<\/p>\n
\u00a0<\/p>\n
\u4ee5\u516d\u8f74\u673a\u68b0\u81c2\u4e3a\u4f8b，\u7ed9\u4f60\u4e00\u5957\u5b8c\u6574\u7684\u5b9e\u64cd\u6d41\u7a0b，\u65b0\u624b\u7167\u505a\u5c31\u80fd\u6210\u529f：<\/p>\n
\u00a0<\/p>\n
1.\u00a0\u65b0\u5efaXacro\u6587\u4ef6：\u5728\u529f\u80fd\u5305\u7684\u00a0urdf\u00a0\u76ee\u5f55\u4e0b，\u65b0\u5efa\u00a0six_arm.xacro\u00a0，\u5199\u5165\u6839\u6807\u7b7e+\u5168\u5c40\u53c2\u6570+\u5b8f\u5b9a\u4e49+\u5b8f\u8c03\u7528<\/p>\n
2.\u00a0\u6821\u9a8c\u8bed\u6cd5：\u7ec8\u7aef\u6267\u884c\u00a0xacro six_arm.xacro\u00a0，\u65e0\u62a5\u9519\u5373\u8bed\u6cd5\u6b63\u786e；\u518d\u6267\u884c\u00a0xacro six_arm.xacro > six_arm.urdf\u00a0，\u7528\u00a0check_urdf six_arm.urdf\u00a0\u6821\u9a8cURDF\u7ed3\u6784<\/p>\n
3.\u00a0\u7f16\u5199launch\u6587\u4ef6：\u65b0\u5efa\u00a0display.launch\u00a0，\u914d\u7f6e\u00a0robot_description\u00a0\u53c2\u6570（\u81ea\u52a8\u8f6c\u6362Xacro），\u542f\u52a8RVIZ<\/p>\n
4.\u00a0\u542f\u52a8\u67e5\u770b：\u7ec8\u7aef\u6267\u884c\u00a0roslaunch \u529f\u80fd\u5305\u540d display.launch\u00a0，RVIZ\u4e2dFixed Frame\u8bbe\u4e3a\u00a0base_link\u00a0，\u6dfb\u52a0RobotModel\u7ec4\u4ef6，\u5373\u53ef\u770b\u5230\u673a\u68b0\u81c2\u6a21\u578b<\/p>\n
\u00a0<\/p>\n
\u00a0<\/p>\n","protected":false},"excerpt":{"rendered":"
Xacro \u5168\u8be6\u89e3（ROS\u673a\u5668\u4eba\u5efa\u6a21\u5fc5\u5907，\u9002\u914d\u673a\u68b0\u81c2\/\u65e0\u4eba\u8f66，\u5b9e\u64cd\u5168\u8986\u76d6）Xacro（XML Macros）\u662f ROS \u4e13\u4e3a\u89e3\u51b3\u7eaf URDF \u75db\u70b9\u8bbe\u8ba1\u7684\u5efa\u6a21\u683c\u5f0f，\u5b8c\u5168\u517c\u5bb9URDF\u6240\u6709\u8bed\u6cd5，\u6838\u5fc3\u65b0\u589e\u300c\u53c2\u6570\u5316\u3001\u5b8f\u590d\u7528\u3001\u6570\u5b66\u8fd0\u7b97\u300d\u4e09\u5927\u529f\u80fd，\u80fd\u5927\u5e45\u51cf\u5c11\u91cd\u590d\u4ee3\u7801\u3001\u964d\u4f4e\u4fee\u6539\u6210\u672c，\u662f\u590d\u6742\u673a\u5668\u4eba（\u516d\u8f74\u673a\u68b0\u81c2\u3001\u65e0\u4eba\u673a\u3001\u65e0\u4eba\u8f66）\u5efa<\/p>\n","protected":false},"author":2,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"footnotes":""},"categories":[1],"tags":[103],"topic":[],"class_list":["post-70224","post","type-post","status-publish","format-standard","hentry","category-server","tag-ubuntu"],"yoast_head":"\n