“src更新

src/代码汇总/无人车部分/limo_cobot_sim-master/README.md

@@ -0,0 +1,7 @@
+# limo_cobot_sim
+启动仿真：
+
+```
+roslaunch limo_cobot_moveit demo_gazebo.launch 
+```
+

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/.setup_assistant

@@ -0,0 +1,11 @@
+moveit_setup_assistant_config:
+  URDF:
+    package: limo_description
+    relative_path: urdf/limo_base.urdf
+    xacro_args: ""
+  SRDF:
+    relative_path: config/limo_xacro.srdf
+  CONFIG:
+    author_name: agilex
+    author_email: shiqi.zhao@agilex.ai
+    generated_timestamp: 1719804171

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/CMakeLists.txt

@@ -0,0 +1,10 @@
+cmake_minimum_required(VERSION 3.1.3)
+project(limo_cobot_moveit)
+
+find_package(catkin REQUIRED)
+
+catkin_package()
+
+install(DIRECTORY launch DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+  PATTERN "setup_assistant.launch" EXCLUDE)
+install(DIRECTORY config DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/config/cartesian_limits.yaml

@@ -0,0 +1,5 @@
+cartesian_limits:
+  max_trans_vel: 1
+  max_trans_acc: 2.25
+  max_trans_dec: -5
+  max_rot_vel: 1.57

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/config/chomp_planning.yaml

@@ -0,0 +1,18 @@
+planning_time_limit: 10.0
+max_iterations: 200
+max_iterations_after_collision_free: 5
+smoothness_cost_weight: 0.1
+obstacle_cost_weight: 1.0
+learning_rate: 0.01
+smoothness_cost_velocity: 0.0
+smoothness_cost_acceleration: 1.0
+smoothness_cost_jerk: 0.0
+ridge_factor: 0.0
+use_pseudo_inverse: false
+pseudo_inverse_ridge_factor: 1e-4
+joint_update_limit: 0.1
+collision_clearance: 0.2
+collision_threshold: 0.07
+use_stochastic_descent: true
+enable_failure_recovery: false
+max_recovery_attempts: 5

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/config/fake_controllers.yaml

@@ -0,0 +1,19 @@
+controller_list:
+  - name: fake_arm_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - joint2_to_joint1
+      - joint3_to_joint2
+      - joint4_to_joint3
+      - joint5_to_joint4
+      - joint6_to_joint5
+      - joint6output_to_joint6
+  - name: fake_gripper_controller
+    type: $(arg fake_execution_type)
+    joints:
+      - grasping_frame_joint
+initial:  # Define initial robot poses per group
+  - group: arm
+    pose: zero
+  - group: gripper
+    pose: zero

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/config/gazebo_controllers.yaml

@@ -0,0 +1,4 @@
+# Publish joint_states
+joint_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 50

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/config/joint_limits.yaml

@@ -0,0 +1,45 @@
+# joint_limits.yaml allows the dynamics properties specified in the URDF to be overwritten or augmented as needed
+
+# For beginners, we downscale velocity and acceleration limits.
+# You can always specify higher scaling factors (<= 1.0) in your motion requests.  # Increase the values below to 1.0 to always move at maximum speed.
+default_velocity_scaling_factor: 0.1
+default_acceleration_scaling_factor: 0.1
+
+# Specific joint properties can be changed with the keys [max_position, min_position, max_velocity, max_acceleration]
+# Joint limits can be turned off with [has_velocity_limits, has_acceleration_limits]
+joint_limits:
+  grasping_frame_joint:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint2_to_joint1:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint3_to_joint2:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint4_to_joint3:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint5_to_joint4:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint6_to_joint5:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0
+  joint6output_to_joint6:
+    has_velocity_limits: false
+    max_velocity: 0
+    has_acceleration_limits: false
+    max_acceleration: 0

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/config/kinematics.yaml

@@ -0,0 +1,7 @@
+arm:
+  kinematics_solver: kdl_kinematics_plugin/KDLKinematicsPlugin
+  kinematics_solver_search_resolution: 0.005
+  kinematics_solver_timeout: 0.005
+  goal_joint_tolerance: 0.0001
+  goal_position_tolerance: 0.0001
+  goal_orientation_tolerance: 0.001

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/config/limo_xacro.srdf

@@ -0,0 +1,76 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<!--This does not replace URDF, and is not an extension of URDF.
+    This is a format for representing semantic information about the robot structure.
+    A URDF file must exist for this robot as well, where the joints and the links that are referenced are defined
+-->
+<robot name="limo_xacro">
+    <!--GROUPS: Representation of a set of joints and links. This can be useful for specifying DOF to plan for, defining arms, end effectors, etc-->
+    <!--LINKS: When a link is specified, the parent joint of that link (if it exists) is automatically included-->
+    <!--JOINTS: When a joint is specified, the child link of that joint (which will always exist) is automatically included-->
+    <!--CHAINS: When a chain is specified, all the links along the chain (including endpoints) are included in the group. Additionally, all the joints that are parents to included links are also included. This means that joints along the chain and the parent joint of the base link are included in the group-->
+    <!--SUBGROUPS: Groups can also be formed by referencing to already defined group names-->
+    <group name="arm">
+        <joint name="limo_mycobot"/>
+        <joint name="joint2_to_joint1"/>
+        <joint name="joint3_to_joint2"/>
+        <joint name="joint4_to_joint3"/>
+        <joint name="joint5_to_joint4"/>
+        <joint name="joint6_to_joint5"/>
+        <joint name="joint6output_to_joint6"/>
+        <chain base_link="joint1" tip_link="joint6"/>
+    </group>
+    <group name="gripper">
+        <joint name="grasping_frame_joint"/>
+    </group>
+    <!--GROUP STATES: Purpose: Define a named state for a particular group, in terms of joint values. This is useful to define states like 'folded arms'-->
+    <group_state name="zero" group="arm">
+        <joint name="joint2_to_joint1" value="0"/>
+        <joint name="joint3_to_joint2" value="0"/>
+        <joint name="joint4_to_joint3" value="0"/>
+        <joint name="joint5_to_joint4" value="0"/>
+        <joint name="joint6_to_joint5" value="0"/>
+        <joint name="joint6output_to_joint6" value="0"/>
+    </group_state>
+    <group_state name="zero" group="gripper">
+        <joint name="grasping_frame_joint" value="0"/>
+    </group_state>
+    <!--DISABLE COLLISIONS: By default it is assumed that any link of the robot could potentially come into collision with any other link in the robot. This tag disables collision checking between a specified pair of links. -->
+    <disable_collisions link1="base_link" link2="front_left_wheel_link" reason="Adjacent"/>
+    <disable_collisions link1="base_link" link2="front_right_wheel_link" reason="Adjacent"/>
+    <disable_collisions link1="base_link" link2="joint1" reason="Adjacent"/>
+    <disable_collisions link1="base_link" link2="joint2" reason="Never"/>
+    <disable_collisions link1="base_link" link2="rear_left_wheel_link" reason="Adjacent"/>
+    <disable_collisions link1="base_link" link2="rear_right_wheel_link" reason="Adjacent"/>
+    <disable_collisions link1="front_left_wheel_link" link2="front_right_wheel_link" reason="Never"/>
+    <disable_collisions link1="front_left_wheel_link" link2="joint1" reason="Never"/>
+    <disable_collisions link1="front_left_wheel_link" link2="joint2" reason="Never"/>
+    <disable_collisions link1="front_left_wheel_link" link2="joint3" reason="Never"/>
+    <disable_collisions link1="front_left_wheel_link" link2="rear_left_wheel_link" reason="Never"/>
+    <disable_collisions link1="front_left_wheel_link" link2="rear_right_wheel_link" reason="Never"/>
+    <disable_collisions link1="front_right_wheel_link" link2="joint1" reason="Never"/>
+    <disable_collisions link1="front_right_wheel_link" link2="joint2" reason="Never"/>
+    <disable_collisions link1="front_right_wheel_link" link2="joint3" reason="Never"/>
+    <disable_collisions link1="front_right_wheel_link" link2="rear_left_wheel_link" reason="Never"/>
+    <disable_collisions link1="front_right_wheel_link" link2="rear_right_wheel_link" reason="Never"/>
+    <disable_collisions link1="gripper_finger_link1" link2="gripper_finger_link2" reason="Never"/>
+    <disable_collisions link1="gripper_finger_link1" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_finger_link1" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_finger_link1" link2="joint6_flange" reason="Adjacent"/>
+    <disable_collisions link1="gripper_finger_link2" link2="joint5" reason="Never"/>
+    <disable_collisions link1="gripper_finger_link2" link2="joint6" reason="Never"/>
+    <disable_collisions link1="gripper_finger_link2" link2="joint6_flange" reason="Adjacent"/>
+    <disable_collisions link1="joint1" link2="joint2" reason="Adjacent"/>
+    <disable_collisions link1="joint1" link2="rear_left_wheel_link" reason="Never"/>
+    <disable_collisions link1="joint1" link2="rear_right_wheel_link" reason="Never"/>
+    <disable_collisions link1="joint2" link2="joint3" reason="Adjacent"/>
+    <disable_collisions link1="joint2" link2="rear_left_wheel_link" reason="Never"/>
+    <disable_collisions link1="joint2" link2="rear_right_wheel_link" reason="Never"/>
+    <disable_collisions link1="joint3" link2="joint4" reason="Adjacent"/>
+    <disable_collisions link1="joint3" link2="rear_left_wheel_link" reason="Never"/>
+    <disable_collisions link1="joint3" link2="rear_right_wheel_link" reason="Never"/>
+    <disable_collisions link1="joint4" link2="joint5" reason="Adjacent"/>
+    <disable_collisions link1="joint5" link2="joint6" reason="Adjacent"/>
+    <disable_collisions link1="joint5" link2="joint6_flange" reason="Never"/>
+    <disable_collisions link1="joint6" link2="joint6_flange" reason="Adjacent"/>
+    <disable_collisions link1="rear_left_wheel_link" link2="rear_right_wheel_link" reason="Never"/>
+</robot>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/config/ompl_planning.yaml

@@ -0,0 +1,225 @@
+planner_configs:
+  AnytimePathShortening:
+    type: geometric::AnytimePathShortening
+    shortcut: true  # Attempt to shortcut all new solution paths
+    hybridize: true  # Compute hybrid solution trajectories
+    max_hybrid_paths: 24  # Number of hybrid paths generated per iteration
+    num_planners: 4  # The number of default planners to use for planning
+    planners: ""  # A comma-separated list of planner types (e.g., "PRM,EST,RRTConnect"Optionally, planner parameters can be passed to change the default:"PRM[max_nearest_neighbors=5],EST[goal_bias=.5],RRT[range=10. goal_bias=.1]"
+  SBL:
+    type: geometric::SBL
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  EST:
+    type: geometric::EST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0 setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LBKPIECE:
+    type: geometric::LBKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  BKPIECE:
+    type: geometric::BKPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  KPIECE:
+    type: geometric::KPIECE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    border_fraction: 0.9  # Fraction of time focused on boarder default: 0.9 (0.0,1.]
+    failed_expansion_score_factor: 0.5  # When extending motion fails, scale score by factor. default: 0.5
+    min_valid_path_fraction: 0.5  # Accept partially valid moves above fraction. default: 0.5
+  RRT:
+    type: geometric::RRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+  RRTConnect:
+    type: geometric::RRTConnect
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  RRTstar:
+    type: geometric::RRTstar
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    delay_collision_checking: 1  # Stop collision checking as soon as C-free parent found. default 1
+  TRRT:
+    type: geometric::TRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability? default: 0.05
+    max_states_failed: 10  # when to start increasing temp. default: 10
+    temp_change_factor: 2.0  # how much to increase or decrease temp. default: 2.0
+    min_temperature: 10e-10  # lower limit of temp change. default: 10e-10
+    init_temperature: 10e-6  # initial temperature. default: 10e-6
+    frontier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frontier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    k_constant: 0.0  # value used to normalize expresssion. default: 0.0 set in setup()
+  PRM:
+    type: geometric::PRM
+    max_nearest_neighbors: 10  # use k nearest neighbors. default: 10
+  PRMstar:
+    type: geometric::PRMstar
+  FMT:
+    type: geometric::FMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.1  # multiplier used for the nearest neighbors search radius. default: 1.1
+    nearest_k: 1  # use Knearest strategy. default: 1
+    cache_cc: 1  # use collision checking cache. default: 1
+    heuristics: 0  # activate cost to go heuristics. default: 0
+    extended_fmt: 1  # activate the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  BFMT:
+    type: geometric::BFMT
+    num_samples: 1000  # number of states that the planner should sample. default: 1000
+    radius_multiplier: 1.0  # multiplier used for the nearest neighbors search radius. default: 1.0
+    nearest_k: 1  # use the Knearest strategy. default: 1
+    balanced: 0  # exploration strategy: balanced true expands one tree every iteration. False will select the tree with lowest maximum cost to go. default: 1
+    optimality: 1  # termination strategy: optimality true finishes when the best possible path is found. Otherwise, the algorithm will finish when the first feasible path is found. default: 1
+    heuristics: 1  # activates cost to go heuristics. default: 1
+    cache_cc: 1  # use the collision checking cache. default: 1
+    extended_fmt: 1  # Activates the extended FMT*: adding new samples if planner does not finish successfully. default: 1
+  PDST:
+    type: geometric::PDST
+  STRIDE:
+    type: geometric::STRIDE
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    use_projected_distance: 0  # whether nearest neighbors are computed based on distances in a projection of the state rather distances in the state space itself. default: 0
+    degree: 16  # desired degree of a node in the Geometric Near-neightbor Access Tree (GNAT). default: 16
+    max_degree: 18  # max degree of a node in the GNAT. default: 12
+    min_degree: 12  # min degree of a node in the GNAT. default: 12
+    max_pts_per_leaf: 6  # max points per leaf in the GNAT. default: 6
+    estimated_dimension: 0.0  # estimated dimension of the free space. default: 0.0
+    min_valid_path_fraction: 0.2  # Accept partially valid moves above fraction. default: 0.2
+  BiTRRT:
+    type: geometric::BiTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    temp_change_factor: 0.1  # how much to increase or decrease temp. default: 0.1
+    init_temperature: 100  # initial temperature. default: 100
+    frontier_threshold: 0.0  # dist new state to nearest neighbor to disqualify as frontier. default: 0.0 set in setup()
+    frontier_node_ratio: 0.1  # 1/10, or 1 nonfrontier for every 10 frontier. default: 0.1
+    cost_threshold: 1e300  # the cost threshold. Any motion cost that is not better will not be expanded. default: inf
+  LBTRRT:
+    type: geometric::LBTRRT
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+    epsilon: 0.4  # optimality approximation factor. default: 0.4
+  BiEST:
+    type: geometric::BiEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  ProjEST:
+    type: geometric::ProjEST
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+    goal_bias: 0.05  # When close to goal select goal, with this probability. default: 0.05
+  LazyPRM:
+    type: geometric::LazyPRM
+    range: 0.0  # Max motion added to tree. ==> maxDistance_ default: 0.0, if 0.0, set on setup()
+  LazyPRMstar:
+    type: geometric::LazyPRMstar
+  SPARS:
+    type: geometric::SPARS
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 1000  # maximum consecutive failure limit. default: 1000
+  SPARStwo:
+    type: geometric::SPARStwo
+    stretch_factor: 3.0  # roadmap spanner stretch factor. multiplicative upper bound on path quality. It does not make sense to make this parameter more than 3. default: 3.0
+    sparse_delta_fraction: 0.25  # delta fraction for connection distance. This value represents the visibility range of sparse samples. default: 0.25
+    dense_delta_fraction: 0.001  # delta fraction for interface detection. default: 0.001
+    max_failures: 5000  # maximum consecutive failure limit. default: 5000
+  AITstar:
+    type: geometric::AITstar
+    use_k_nearest: 1  # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
+    rewire_factor: 1.001  # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
+    samples_per_batch: 100  # batch size. Valid values: [1:1:1000]. Default: 100
+    use_graph_pruning: 1  # enable graph pruning (1) or not (0). Default: 1
+    find_approximate_solutions: 0  # track approximate solutions (1) or not (0). Default: 0
+    set_max_num_goals: 1  # maximum number of goals sampled from sampleable goal regions. Valid values: [1:1:1000]. Default: 1
+  ABITstar:
+    type: geometric::ABITstar
+    use_k_nearest: 1  # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
+    rewire_factor: 1.001  # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
+    samples_per_batch: 100  # batch size. Valid values: [1:1:1000]. Default: 100
+    use_graph_pruning: 1  # enable graph pruning (1) or not (0). Default: 1
+    prune_threshold_as_fractional_cost_change: 0.1  # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
+    delay_rewiring_to_first_solution: 0  # delay (1) or not (0) rewiring until a solution is found. Default: 0
+    use_just_in_time_sampling: 0  # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
+    drop_unconnected_samples_on_prune: 0  # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
+    stop_on_each_solution_improvement: 0  # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
+    use_strict_queue_ordering: 0  # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
+    find_approximate_solutions: 0  # track approximate solutions (1) or not (0). Default: 0
+    initial_inflation_factor: 1000000  # inflation factor for the initial search. Valid values: [1.0:0.01:1000000.0]. Default: 1000000
+    inflation_scaling_parameter: 10  # scaling parameter for the inflation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
+    truncation_scaling_parameter: 5.0  # scaling parameter for the truncation factor update policy. Valid values: [1.0:0.01:1000000.0]. Default: 0
+  BITstar:
+    type: geometric::BITstar
+    use_k_nearest: 1  # whether to use a k-nearest RGG connection model (1) or an r-disc model (0). Default: 1
+    rewire_factor: 1.001  # rewire factor of the RGG. Valid values: [1.0:0.01:3.0]. Default: 1.001
+    samples_per_batch: 100  # batch size. Valid values: [1:1:1000]. Default: 100
+    use_graph_pruning: 1  # enable graph pruning (1) or not (0). Default: 1
+    prune_threshold_as_fractional_cost_change: 0.1  # fractional change in the solution cost AND problem measure necessary for pruning to occur. Default: 0.1
+    delay_rewiring_to_first_solution: 0  # delay (1) or not (0) rewiring until a solution is found. Default: 0
+    use_just_in_time_sampling: 0  # delay the generation of samples until they are * necessary. Only works with r-disc connection and path length minimization. Default: 0
+    drop_unconnected_samples_on_prune: 0  # drop unconnected samples when pruning, regardless of their heuristic value. Default: 0
+    stop_on_each_solution_improvement: 0  # stop the planner each time a solution improvement is found. Useful for debugging. Default: 0
+    use_strict_queue_ordering: 0  # sort edges in the queue at the end of the batch (0) or after each rewiring (1). Default: 0
+    find_approximate_solutions: 0  # track approximate solutions (1) or not (0). Default: 0
+arm:
+  default_planner_config: RRTstar
+  planner_configs:
+    - AnytimePathShortening
+    - SBL
+    - EST
+    - LBKPIECE
+    - BKPIECE
+    - KPIECE
+    - RRT
+    - RRTConnect
+    - RRTstar
+    - TRRT
+    - PRM
+    - PRMstar
+    - FMT
+    - BFMT
+    - PDST
+    - STRIDE
+    - BiTRRT
+    - LBTRRT
+    - BiEST
+    - ProjEST
+    - LazyPRM
+    - LazyPRMstar
+    - SPARS
+    - SPARStwo
+    - AITstar
+    - ABITstar
+    - BITstar
+gripper:
+  planner_configs:
+    - AnytimePathShortening
+    - SBL
+    - EST
+    - LBKPIECE
+    - BKPIECE
+    - KPIECE
+    - RRT
+    - RRTConnect
+    - RRTstar
+    - TRRT
+    - PRM
+    - PRMstar
+    - FMT
+    - BFMT
+    - PDST
+    - STRIDE
+    - BiTRRT
+    - LBTRRT
+    - BiEST
+    - ProjEST
+    - LazyPRM
+    - LazyPRMstar
+    - SPARS
+    - SPARStwo
+    - AITstar
+    - ABITstar
+    - BITstar

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/config/ros_controllers.yaml

@@ -0,0 +1,52 @@
+gripper_controller:
+  type: effort_controllers/JointTrajectoryController
+  joints:
+    - grasping_frame_joint
+  gains:
+    grasping_frame_joint:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+arm_controller:
+  type: effort_controllers/JointTrajectoryController
+  joints:
+    - joint2_to_joint1
+    - joint3_to_joint2
+    - joint4_to_joint3
+    - joint5_to_joint4
+    - joint6_to_joint5
+    - joint6output_to_joint6
+  gains:
+    joint2_to_joint1:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint3_to_joint2:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint4_to_joint3:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint5_to_joint4:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint6_to_joint5:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+    joint6output_to_joint6:
+      p: 100
+      d: 1
+      i: 1
+      i_clamp: 1
+
+      

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/config/sensors_3d.yaml

@@ -0,0 +1,2 @@
+sensors:
+  []

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/config/simple_moveit_controllers.yaml

@@ -0,0 +1,18 @@
+controller_list:
+  - name: gripper_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - grasping_frame_joint
+  - name: arm_controller
+    action_ns: follow_joint_trajectory
+    type: FollowJointTrajectory
+    default: True
+    joints:
+      - joint2_to_joint1
+      - joint3_to_joint2
+      - joint4_to_joint3
+      - joint5_to_joint4
+      - joint6_to_joint5
+      - joint6output_to_joint6

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/config/stomp_planning.yaml

@@ -0,0 +1,78 @@
+stomp/arm:
+  group_name: arm
+  optimization:
+    num_timesteps: 60
+    num_iterations: 40
+    num_iterations_after_valid: 0
+    num_rollouts: 30
+    max_rollouts: 30
+    initialization_method: 1  # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
+    control_cost_weight: 0.0
+  task:
+    noise_generator:
+      - class: stomp_moveit/NormalDistributionSampling
+        stddev: [0.05, 0.05, 0.05, 0.05, 0.05, 0.05]
+    cost_functions:
+      - class: stomp_moveit/CollisionCheck
+        collision_penalty: 1.0
+        cost_weight: 1.0
+        kernel_window_percentage: 0.2
+        longest_valid_joint_move: 0.05
+    noisy_filters:
+      - class: stomp_moveit/JointLimits
+        lock_start: True
+        lock_goal: True
+      - class: stomp_moveit/MultiTrajectoryVisualization
+        line_width: 0.02
+        rgb: [255, 255, 0]
+        marker_array_topic: stomp_trajectories
+        marker_namespace: noisy
+    update_filters:
+      - class: stomp_moveit/PolynomialSmoother
+        poly_order: 6
+      - class: stomp_moveit/TrajectoryVisualization
+        line_width: 0.05
+        rgb: [0, 191, 255]
+        error_rgb: [255, 0, 0]
+        publish_intermediate: True
+        marker_topic: stomp_trajectory
+        marker_namespace: optimized
+stomp/gripper:
+  group_name: gripper
+  optimization:
+    num_timesteps: 60
+    num_iterations: 40
+    num_iterations_after_valid: 0
+    num_rollouts: 30
+    max_rollouts: 30
+    initialization_method: 1  # [1 : LINEAR_INTERPOLATION, 2 : CUBIC_POLYNOMIAL, 3 : MININUM_CONTROL_COST]
+    control_cost_weight: 0.0
+  task:
+    noise_generator:
+      - class: stomp_moveit/NormalDistributionSampling
+        stddev: [0.05]
+    cost_functions:
+      - class: stomp_moveit/CollisionCheck
+        collision_penalty: 1.0
+        cost_weight: 1.0
+        kernel_window_percentage: 0.2
+        longest_valid_joint_move: 0.05
+    noisy_filters:
+      - class: stomp_moveit/JointLimits
+        lock_start: True
+        lock_goal: True
+      - class: stomp_moveit/MultiTrajectoryVisualization
+        line_width: 0.02
+        rgb: [255, 255, 0]
+        marker_array_topic: stomp_trajectories
+        marker_namespace: noisy
+    update_filters:
+      - class: stomp_moveit/PolynomialSmoother
+        poly_order: 6
+      - class: stomp_moveit/TrajectoryVisualization
+        line_width: 0.05
+        rgb: [0, 191, 255]
+        error_rgb: [255, 0, 0]
+        publish_intermediate: True
+        marker_topic: stomp_trajectory
+        marker_namespace: optimized

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/chomp_planning_pipeline.launch.xml

@@ -0,0 +1,21 @@
+<launch>
+  <arg name="start_state_max_bounds_error" default="0.1" />
+  <arg name="jiggle_fraction" default="0.05" />
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
+                default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints"
+                />
+
+  <param name="planning_plugin" value="chomp_interface/CHOMPPlanner" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+
+  <rosparam command="load" file="$(find limo_cobot_moveit)/config/chomp_planning.yaml" />
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/default_warehouse_db.launch

@@ -0,0 +1,15 @@
+<launch>
+
+  <arg name="reset" default="false"/>
+  <!-- If not specified, we'll use a default database location -->
+  <arg name="moveit_warehouse_database_path" default="$(find limo_cobot_moveit)/default_warehouse_mongo_db" />
+
+  <!-- Launch the warehouse with the configured database location -->
+  <include file="$(dirname)/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="$(arg moveit_warehouse_database_path)" />
+  </include>
+
+  <!-- If we want to reset the database, run this node -->
+  <node if="$(arg reset)" name="$(anon moveit_default_db_reset)" type="moveit_init_demo_warehouse" pkg="moveit_ros_warehouse" respawn="false" output="screen" />
+
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/demo.launch

@@ -0,0 +1,66 @@
+<launch>
+
+  <!-- specify the planning pipeline -->
+  <arg name="pipeline" default="ompl" />
+
+  <!-- By default, we do not start a database (it can be large) -->
+  <arg name="db" default="false" />
+  <!-- Allow user to specify database location -->
+  <arg name="db_path" default="$(find limo_cobot_moveit)/default_warehouse_mongo_db" />
+
+  <!-- By default, we are not in debug mode -->
+  <arg name="debug" default="false" />
+
+  <!-- By default, we will load or override the robot_description -->
+  <arg name="load_robot_description" default="true"/>
+
+  <!-- Choose controller manager: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" default="fake" />
+  <!-- Set execution mode for fake execution controllers -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- By default, hide joint_state_publisher's GUI in 'fake' controller_manager mode -->
+  <arg name="use_gui" default="false" />
+  <arg name="use_rviz" default="true" />
+
+  <!-- If needed, broadcast static tf for robot root -->
+
+  <group if="$(eval arg('moveit_controller_manager') == 'fake')">
+    <!-- We do not have a real robot connected, so publish fake joint states via a joint_state_publisher
+         MoveIt's fake controller's joint states are considered via the 'source_list' parameter -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" unless="$(arg use_gui)">
+      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    </node>
+    <!-- If desired, a GUI version is available allowing to move the simulated robot around manually
+         This corresponds to moving around the real robot without the use of MoveIt. -->
+    <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" if="$(arg use_gui)">
+      <rosparam param="source_list">[move_group/fake_controller_joint_states]</rosparam>
+    </node>
+
+    <!-- Given the published joint states, publish tf for the robot links -->
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+  </group>
+
+  <!-- Run the main MoveIt executable without trajectory execution (we do not have controllers configured by default) -->
+  <include file="$(dirname)/move_group.launch">
+    <arg name="allow_trajectory_execution" value="true"/>
+    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+    <arg name="fake_execution_type" value="$(arg fake_execution_type)"/>
+    <arg name="info" value="true"/>
+    <arg name="debug" value="$(arg debug)"/>
+    <arg name="pipeline" value="$(arg pipeline)"/>
+    <arg name="load_robot_description" value="$(arg load_robot_description)"/>
+  </include>
+
+  <!-- Run Rviz and load the default config to see the state of the move_group node -->
+  <include file="$(dirname)/moveit_rviz.launch" if="$(arg use_rviz)">
+    <arg name="rviz_config" value="$(dirname)/moveit.rviz"/>
+    <arg name="debug" value="$(arg debug)"/>
+  </include>
+
+  <!-- If database loading was enabled, start mongodb as well -->
+  <include file="$(dirname)/default_warehouse_db.launch" if="$(arg db)">
+    <arg name="moveit_warehouse_database_path" value="$(arg db_path)"/>
+  </include>
+
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/demo_gazebo.launch

@@ -0,0 +1,21 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- MoveIt options -->
+  <arg name="pipeline" default="ompl" doc="Planning pipeline to use with MoveIt"/>
+
+  <!-- Gazebo options -->
+  <arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
+  <arg name="paused" default="false" doc="Start Gazebo paused"/>
+  <arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
+  <arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
+
+  <!-- Launch Gazebo and spawn the robot -->
+  <include file="$(dirname)/gazebo.launch" pass_all_args="true"/>
+
+  <!-- Launch MoveIt -->
+  <include file="$(dirname)/demo.launch" pass_all_args="true">
+    <!-- robot_description is loaded by gazebo.launch, to enable Gazebo features -->
+    <arg name="load_robot_description" value="false" />
+    <arg name="moveit_controller_manager" value="ros_control" />
+  </include>
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/fake_moveit_controller_manager.launch.xml

@@ -0,0 +1,12 @@
+<launch>
+
+  <!-- execute the trajectory in 'interpolate' mode or jump to goal position in 'last point' mode -->
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- Set the param that trajectory_execution_manager needs to find the controller plugin -->
+  <param name="moveit_controller_manager" value="moveit_fake_controller_manager/MoveItFakeControllerManager"/>
+
+  <!-- The rest of the params are specific to this plugin -->
+  <rosparam subst_value="true" file="$(find limo_cobot_moveit)/config/fake_controllers.yaml"/>
+
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/gazebo.launch

@@ -0,0 +1,35 @@
+<?xml version="1.0"?>
+<launch>
+  <!-- Gazebo options -->
+  <arg name="gazebo_gui" default="true" doc="Start Gazebo GUI"/>
+  <arg name="paused" default="false" doc="Start Gazebo paused"/>
+  <arg name="world_name" default="worlds/empty.world" doc="Gazebo world file"/>
+  <arg name="world_pose" default="-x 0 -y 0 -z 0 -R 0 -P 0 -Y 0" doc="Pose to spawn the robot at"/>
+  <arg name="initial_joint_positions" default=" -J grasping_frame_joint 0 -J joint2_to_joint1 0 -J joint3_to_joint2 0 -J joint4_to_joint3 0 -J joint5_to_joint4 0 -J joint6_to_joint5 0 -J joint6output_to_joint6 0" doc="Initial joint configuration of the robot"/>
+
+  <!-- Start Gazebo paused to allow the controllers to pickup the initial pose -->
+  <include file="$(find gazebo_ros)/launch/empty_world.launch" pass_all_args="true">
+    <arg name="paused" value="true"/>
+  </include>
+
+  <!-- Set the robot urdf on the parameter server -->
+  <param name="robot_description" textfile="$(find limo_description)/urdf/limo_base.urdf" />
+
+  <!-- Unpause the simulation after loading the robot model -->
+  <arg name="unpause" value="$(eval '' if arg('paused') else '-unpause')" />
+
+  <!-- Spawn the robot in Gazebo -->
+  <node name="spawn_gazebo_model" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -model robot $(arg unpause) $(arg world_pose) $(arg initial_joint_positions)"
+    respawn="false" output="screen" />
+
+  <!-- Load the controller parameters onto the parameter server -->
+  <rosparam file="$(find limo_cobot_moveit)/config/gazebo_controllers.yaml" />
+  <rosparam file="$(find limo_gazebo_sim)/config/limo_four_diff_control.yaml" command="load"/>
+  <include file="$(dirname)/ros_controllers.launch"/>
+
+  <!-- Spawn the Gazebo ROS controllers -->
+  <node name="gazebo_controller_spawner" pkg="controller_manager" type="spawner" respawn="false" output="screen" args="joint_state_controller" />
+
+  <!-- Given the published joint states, publish tf for the robot links -->
+  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" respawn="true" output="screen" />
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/joystick_control.launch

@@ -0,0 +1,17 @@
+<launch>
+  <!-- See moveit_ros/visualization/doc/joystick.rst for documentation -->
+
+  <arg name="dev" default="/dev/input/js0" />
+
+  <!-- Launch joy node -->
+  <node pkg="joy" type="joy_node" name="joy">
+    <param name="dev" value="$(arg dev)" /> <!-- Customize this to match the location your joystick is plugged in on-->
+    <param name="deadzone" value="0.2" />
+    <param name="autorepeat_rate" value="40" />
+    <param name="coalesce_interval" value="0.025" />
+  </node>
+
+  <!-- Launch python interface -->
+  <node pkg="moveit_ros_visualization" type="moveit_joy.py" output="screen" name="moveit_joy"/>
+
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/limo_xacro_moveit_sensor_manager.launch.xml

@@ -0,0 +1,3 @@
+<launch>
+
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/move_group.launch

@@ -0,0 +1,105 @@
+<launch>
+
+  <!-- GDB Debug Option -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix"
+           value="gdb -x $(dirname)/gdb_settings.gdb --ex run --args" />
+
+  <!-- Verbose Mode Option -->
+  <arg name="info" default="$(arg debug)" />
+  <arg unless="$(arg info)" name="command_args" value="" />
+  <arg     if="$(arg info)" name="command_args" value="--debug" />
+
+  <!-- move_group settings -->
+  <arg name="pipeline" default="ompl" />
+  <arg name="allow_trajectory_execution" default="true"/>
+  <arg name="moveit_controller_manager" default="simple" />
+  <arg name="fake_execution_type" default="interpolate"/>
+  <arg name="max_safe_path_cost" default="1"/>
+  <arg name="publish_monitored_planning_scene" default="true"/>
+
+  <arg name="capabilities" default=""/>
+  <arg name="disable_capabilities" default=""/>
+  <!-- load these non-default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="capabilities" value="
+                a_package/AwsomeMotionPlanningCapability
+                another_package/GraspPlanningPipeline
+                " />
+  -->
+
+  <!-- inhibit these default MoveGroup capabilities (space seperated) -->
+  <!--
+  <arg name="disable_capabilities" value="
+                move_group/MoveGroupKinematicsService
+                move_group/ClearOctomapService
+                " />
+  -->
+
+  <arg name="load_robot_description" default="false" />
+  <!-- load URDF, SRDF and joint_limits configuration -->
+  <include file="$(dirname)/planning_context.launch">
+    <arg name="load_robot_description" value="$(arg load_robot_description)" />
+  </include>
+
+  <!-- Planning Pipelines -->
+  <group ns="move_group/planning_pipelines">
+
+    <!-- OMPL -->
+    <include file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="ompl" />
+    </include>
+
+    <!-- CHOMP -->
+    <include file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="chomp" />
+    </include>
+
+    <!-- Pilz Industrial Motion -->
+    <include file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="pilz_industrial_motion_planner" />
+    </include>
+
+    <!-- Support custom planning pipeline -->
+    <include if="$(eval arg('pipeline') not in ['ompl', 'chomp', 'pilz_industrial_motion_planner'])"
+             file="$(dirname)/planning_pipeline.launch.xml">
+      <arg name="pipeline" value="$(arg pipeline)" />
+    </include>
+  </group>
+
+  <!-- Trajectory Execution Functionality -->
+  <include ns="move_group" file="$(dirname)/trajectory_execution.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_manage_controllers" value="true" />
+    <arg name="moveit_controller_manager" value="$(arg moveit_controller_manager)" />
+    <arg name="fake_execution_type" value="$(arg fake_execution_type)" />
+  </include>
+
+  <!-- Sensors Functionality -->
+  <include ns="move_group" file="$(dirname)/sensor_manager.launch.xml" if="$(arg allow_trajectory_execution)">
+    <arg name="moveit_sensor_manager" value="limo_xacro" />
+  </include>
+
+  <!-- Start the actual move_group node/action server -->
+  <node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
+    <!-- Set the display variable, in case OpenGL code is used internally -->
+    <env name="DISPLAY" value="$(optenv DISPLAY :0)" />
+
+    <param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
+    <param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
+    <param name="default_planning_pipeline" value="$(arg pipeline)" />
+    <param name="capabilities" value="$(arg capabilities)" />
+    <param name="disable_capabilities" value="$(arg disable_capabilities)" />
+
+    <!-- do not copy dynamics information from /joint_states to internal robot monitoring
+         default to false, because almost nothing in move_group relies on this information -->
+    <param name="monitor_dynamics" value="false" />
+
+    <!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
+    <param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)" />
+    <param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)" />
+  </node>
+
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/moveit.rviz

@@ -0,0 +1,334 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 84
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /MotionPlanning1
+        - /MotionPlanning1/Planned Path1
+      Splitter Ratio: 0.5
+    Tree Height: 215
+  - Class: rviz/Help
+    Name: Help
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Acceleration_Scaling_Factor: 0.1
+      Class: moveit_rviz_plugin/MotionPlanning
+      Enabled: true
+      Move Group Namespace: ""
+      MoveIt_Allow_Approximate_IK: false
+      MoveIt_Allow_External_Program: false
+      MoveIt_Allow_Replanning: false
+      MoveIt_Allow_Sensor_Positioning: false
+      MoveIt_Planning_Attempts: 10
+      MoveIt_Planning_Time: 1
+      MoveIt_Use_Cartesian_Path: false
+      MoveIt_Use_Constraint_Aware_IK: false
+      MoveIt_Workspace:
+        Center:
+          X: 0
+          Y: 0
+          Z: 0
+        Size:
+          X: 2
+          Y: 2
+          Z: 2
+      Name: MotionPlanning
+      Planned Path:
+        Color Enabled: false
+        Interrupt Display: false
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          base_footprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          front_left_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          front_right_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_finger_link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_finger_link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          inertial_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          joint1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint6_flange:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          rear_left_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          rear_right_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Loop Animation: false
+        Robot Alpha: 0.5
+        Robot Color: 150; 50; 150
+        Show Robot Collision: false
+        Show Robot Visual: true
+        Show Trail: false
+        State Display Time: 0.05 s
+        Trail Step Size: 1
+        Trajectory Topic: move_group/display_planned_path
+        Use Sim Time: false
+      Planning Metrics:
+        Payload: 1
+        Show Joint Torques: false
+        Show Manipulability: false
+        Show Manipulability Index: false
+        Show Weight Limit: false
+        TextHeight: 0.07999999821186066
+      Planning Request:
+        Colliding Link Color: 255; 0; 0
+        Goal State Alpha: 1
+        Goal State Color: 250; 128; 0
+        Interactive Marker Size: 0
+        Joint Violation Color: 255; 0; 255
+        Planning Group: arm
+        Query Goal State: true
+        Query Start State: false
+        Show Workspace: false
+        Start State Alpha: 1
+        Start State Color: 0; 255; 0
+      Planning Scene Topic: move_group/monitored_planning_scene
+      Robot Description: robot_description
+      Scene Geometry:
+        Scene Alpha: 1
+        Scene Color: 50; 230; 50
+        Scene Display Time: 0.009999999776482582
+        Show Scene Geometry: true
+        Voxel Coloring: Z-Axis
+        Voxel Rendering: Occupied Voxels
+      Scene Robot:
+        Attached Body Color: 150; 50; 150
+        Links:
+          All Links Enabled: true
+          Expand Joint Details: false
+          Expand Link Details: false
+          Expand Tree: false
+          Link Tree Style: Links in Alphabetic Order
+          base_footprint:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          base_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          front_left_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          front_right_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_finger_link1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          gripper_finger_link2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          inertial_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+          joint1:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint2:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint3:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint4:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint5:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint6:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          joint6_flange:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          rear_left_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+          rear_right_wheel_link:
+            Alpha: 1
+            Show Axes: false
+            Show Trail: false
+            Value: true
+        Robot Alpha: 0.5
+        Show Robot Collision: false
+        Show Robot Visual: true
+      Value: true
+      Velocity_Scaling_Factor: 0.1
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_footprint
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 1.0358374118804932
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Field of View: 0.75
+      Focal Point:
+        X: -0.1136067658662796
+        Y: 0.23990707099437714
+        Z: 0.30944114923477173
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.5
+      Target Frame: base_footprint
+      Yaw: -0.6232355833053589
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 848
+  Help:
+    collapsed: false
+  Hide Left Dock: false
+  Hide Right Dock: false
+  MotionPlanning:
+    collapsed: false
+  MotionPlanning - Trajectory Slider:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd0000000100000000000001f3000002f6fc0200000007fb000000100044006900730070006c006100790073010000003d00000168000000c900fffffffb0000000800480065006c00700000000342000000bb0000006e00fffffffb0000000a00560069006500770073000000010c000000a4000000a400fffffffb0000000c00430061006d00650072006100000002ff000001610000000000000000fb0000001e004d006f00740069006f006e00200050006c0061006e006e0069006e00670100000374000001890000000000000000fb00000044004d006f00740069006f006e0050006c0061006e006e0069006e00670020002d0020005400720061006a006500630074006f0072007900200053006c00690064006500720000000000ffffffff0000001600000016fb0000001c004d006f00740069006f006e0050006c0061006e006e0069006e006701000001ab000001880000017d00ffffff00000312000002f600000001000000020000000100000002fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Views:
+    collapsed: false
+  Width: 1291
+  X: 389
+  Y: 27

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/moveit_rviz.launch

@@ -0,0 +1,15 @@
+<launch>
+
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <arg name="rviz_config" default="" />
+  <arg     if="$(eval rviz_config=='')" name="command_args" value="" />
+  <arg unless="$(eval rviz_config=='')" name="command_args" value="-d $(arg rviz_config)" />
+
+  <node name="$(anon rviz)" launch-prefix="$(arg launch_prefix)" pkg="rviz" type="rviz" respawn="false"
+        args="$(arg command_args)" output="screen">
+  </node>
+
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/ompl-chomp_planning_pipeline.launch.xml

@@ -0,0 +1,20 @@
+<launch>
+  <!-- load OMPL planning pipeline, but add the CHOMP planning adapter. -->
+  <include file="$(find limo_cobot_moveit)/launch/ompl_planning_pipeline.launch.xml">
+    <arg name="planning_adapters"
+         default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
+                  default_planner_request_adapters/AddTimeParameterization
+                  default_planner_request_adapters/FixWorkspaceBounds
+                  default_planner_request_adapters/FixStartStateBounds
+                  default_planner_request_adapters/FixStartStateCollision
+                  default_planner_request_adapters/FixStartStatePathConstraints
+                  chomp/OptimizerAdapter"
+                  />
+  </include>
+
+  <!-- load chomp config -->
+  <rosparam command="load" file="$(find limo_cobot_moveit)/config/chomp_planning.yaml" />
+
+  <!-- override trajectory_initialization_method: Use OMPL-generated trajectory -->
+  <param name="trajectory_initialization_method" value="fillTrajectory"/>
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/ompl_planning_pipeline.launch.xml

@@ -0,0 +1,24 @@
+<launch>
+
+  <!-- The request adapters (plugins) used when planning with OMPL. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
+                default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/ResolveConstraintFrames
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints"
+                />
+
+  <arg name="start_state_max_bounds_error" default="0.1" />
+  <arg name="jiggle_fraction" default="0.05" />
+
+  <param name="planning_plugin" value="ompl_interface/OMPLPlanner" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+
+  <rosparam command="load" file="$(find limo_cobot_moveit)/config/ompl_planning.yaml"/>
+
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/pilz_industrial_motion_planner_planning_pipeline.launch.xml

@@ -0,0 +1,15 @@
+<launch>
+
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters" default="" />
+
+  <param name="planning_plugin" value="pilz_industrial_motion_planner::CommandPlanner" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+
+  <!-- Define default planner (for all groups) -->
+  <param name="default_planner_config" value="PTP" />
+
+  <!-- MoveGroup capabilities to load for this pipeline, append sequence capability -->
+  <param name="capabilities" value="pilz_industrial_motion_planner/MoveGroupSequenceAction
+                                    pilz_industrial_motion_planner/MoveGroupSequenceService" />
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/planning_context.launch

@@ -0,0 +1,26 @@
+<launch>
+  <!-- By default we do not overwrite the URDF. Change the following to true to change the default behavior -->
+  <arg name="load_robot_description" default="false"/>
+
+  <!-- The name of the parameter under which the URDF is loaded -->
+  <arg name="robot_description" default="robot_description"/>
+
+  <!-- Load universal robot description format (URDF) -->
+  <param if="$(arg load_robot_description)" name="$(arg robot_description)" textfile="$(find limo_description)/urdf/limo_base.urdf"/>
+
+  <!-- The semantic description that corresponds to the URDF -->
+  <param name="$(arg robot_description)_semantic" textfile="$(find limo_cobot_moveit)/config/limo_xacro.srdf" />
+
+  <!-- Load updated joint limits (override information from URDF) -->
+  <group ns="$(arg robot_description)_planning">
+    <rosparam command="load" file="$(find limo_cobot_moveit)/config/joint_limits.yaml"/>
+    <rosparam command="load" file="$(find limo_cobot_moveit)/config/cartesian_limits.yaml"/>
+  </group>
+
+  <!-- Load default settings for kinematics; these settings are overridden by settings in a node's namespace -->
+  <group ns="$(arg robot_description)_kinematics">
+    <rosparam command="load" file="$(find limo_cobot_moveit)/config/kinematics.yaml"/>
+
+  </group>
+
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/planning_pipeline.launch.xml

@@ -0,0 +1,10 @@
+<launch>
+
+  <!-- This file makes it easy to include different planning pipelines;
+       It is assumed that all planning pipelines are named XXX_planning_pipeline.launch  -->
+
+  <arg name="pipeline" default="ompl" />
+
+  <include ns="$(arg pipeline)" file="$(dirname)/$(arg pipeline)_planning_pipeline.launch.xml" />
+
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/ros_control_moveit_controller_manager.launch.xml

@@ -0,0 +1,4 @@
+<launch>
+	<!-- Define MoveIt controller manager plugin -->
+	<param name="moveit_controller_manager" value="moveit_ros_control_interface::MoveItControllerManager" />
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/ros_controllers.launch

@@ -0,0 +1,11 @@
+<?xml version="1.0"?>
+<launch>
+
+  <!-- Load joint controller configurations from YAML file to parameter server -->
+  <rosparam file="$(find limo_cobot_moveit)/config/ros_controllers.yaml" command="load"/>
+
+  <!-- Load the controllers -->
+  <node name="controller_spawner" pkg="controller_manager" type="spawner" respawn="false"
+    output="screen" args="gripper_controller arm_controller"/>
+
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/run_benchmark_ompl.launch

@@ -0,0 +1,21 @@
+<launch>
+
+  <!-- This argument must specify the list of .cfg files to process for benchmarking -->
+  <arg name="cfg" />
+
+  <!-- Load URDF -->
+  <include file="$(dirname)/planning_context.launch">
+    <arg name="load_robot_description" value="true"/>
+  </include>
+
+  <!-- Start the database -->
+  <include file="$(dirname)/warehouse.launch">
+    <arg name="moveit_warehouse_database_path" value="moveit_ompl_benchmark_warehouse"/>
+  </include>
+
+  <!-- Start Benchmark Executable -->
+  <node name="$(anon moveit_benchmark)" pkg="moveit_ros_benchmarks" type="moveit_run_benchmark" args="$(arg cfg) --benchmark-planners" respawn="false" output="screen">
+    <rosparam command="load" file="$(find limo_cobot_moveit)/config/ompl_planning.yaml"/>
+  </node>
+
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/sensor_manager.launch.xml

@@ -0,0 +1,17 @@
+<launch>
+
+  <!-- This file makes it easy to include the settings for sensor managers -->
+
+  <!-- Params for 3D sensors config -->
+  <rosparam command="load" file="$(find limo_cobot_moveit)/config/sensors_3d.yaml" />
+
+  <!-- Params for the octomap monitor -->
+  <!--  <param name="octomap_frame" type="string" value="some frame in which the robot moves" /> -->
+  <param name="octomap_resolution" type="double" value="0.025" />
+  <param name="max_range" type="double" value="5.0" />
+
+  <!-- Load the robot specific sensor manager; this sets the moveit_sensor_manager ROS parameter -->
+  <arg name="moveit_sensor_manager" default="limo_xacro" />
+  <include file="$(dirname)/$(arg moveit_sensor_manager)_moveit_sensor_manager.launch.xml" />
+
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/setup_assistant.launch

@@ -0,0 +1,16 @@
+<!-- Re-launch the MoveIt Setup Assistant with this configuration package already loaded -->
+<launch>
+
+  <!-- Debug Info -->
+  <arg name="debug" default="false" />
+  <arg unless="$(arg debug)" name="launch_prefix" value="" />
+  <arg     if="$(arg debug)" name="launch_prefix" value="gdb --ex run --args" />
+
+  <!-- Run -->
+  <node pkg="moveit_setup_assistant" type="moveit_setup_assistant" name="moveit_setup_assistant"
+        args="--config_pkg=limo_cobot_moveit"
+        launch-prefix="$(arg launch_prefix)"
+        required="true"
+        output="screen" />
+
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/simple_moveit_controller_manager.launch.xml

@@ -0,0 +1,8 @@
+<launch>
+  <!-- Define the MoveIt controller manager plugin to use for trajectory execution -->
+  <param name="moveit_controller_manager" value="moveit_simple_controller_manager/MoveItSimpleControllerManager" />
+
+  <!-- Load controller list to the parameter server -->
+  <rosparam file="$(find limo_cobot_moveit)/config/simple_moveit_controllers.yaml" />
+  <rosparam file="$(find limo_cobot_moveit)/config/ros_controllers.yaml" />
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/stomp_planning_pipeline.launch.xml

@@ -0,0 +1,23 @@
+<launch>
+  <!-- Stomp Plugin for MoveIt -->
+  <arg name="planning_plugin" value="stomp_moveit/StompPlannerManager" />
+
+  <arg name="start_state_max_bounds_error" value="0.1" />
+  <arg name="jiggle_fraction" value="0.05" />
+  <!-- The request adapters (plugins) used when planning. ORDER MATTERS! -->
+  <arg name="planning_adapters"
+       default="default_planner_request_adapters/LimitMaxCartesianLinkSpeed
+                default_planner_request_adapters/AddTimeParameterization
+                default_planner_request_adapters/FixWorkspaceBounds
+                default_planner_request_adapters/FixStartStateBounds
+                default_planner_request_adapters/FixStartStateCollision
+                default_planner_request_adapters/FixStartStatePathConstraints" />
+
+
+  <param name="planning_plugin" value="$(arg planning_plugin)" />
+  <param name="request_adapters" value="$(arg planning_adapters)" />
+  <param name="start_state_max_bounds_error" value="$(arg start_state_max_bounds_error)" />
+  <param name="jiggle_fraction" value="$(arg jiggle_fraction)" />
+
+  <rosparam command="load" file="$(find limo_cobot_moveit)/config/stomp_planning.yaml"/>
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/trajectory_execution.launch.xml

@@ -0,0 +1,23 @@
+<launch>
+  <!-- This file summarizes all settings required for trajectory execution  -->
+
+  <!-- Define moveit controller manager plugin: fake, simple, or ros_control -->
+  <arg name="moveit_controller_manager" />
+  <arg name="fake_execution_type" default="interpolate" />
+
+  <!-- Flag indicating whether MoveIt is allowed to load/unload  or switch controllers -->
+  <arg name="moveit_manage_controllers" default="true"/>
+  <param name="moveit_manage_controllers" value="$(arg moveit_manage_controllers)"/>
+
+  <!-- When determining the expected duration of a trajectory, this multiplicative factor is applied to get the allowed duration of execution -->
+  <param name="trajectory_execution/allowed_execution_duration_scaling" value="1.2"/> <!-- default 1.2 -->
+  <!-- Allow more than the expected execution time before triggering a trajectory cancel (applied after scaling) -->
+  <param name="trajectory_execution/allowed_goal_duration_margin" value="0.5"/> <!-- default 0.5 -->
+  <!-- Allowed joint-value tolerance for validation that trajectory's first point matches current robot state -->
+  <param name="trajectory_execution/allowed_start_tolerance" value="0.01"/> <!-- default 0.01 -->
+
+  <!-- We use pass_all_args=true here to pass fake_execution_type, which is required by fake controllers, but not by real-robot controllers.
+       As real-robot controller_manager.launch files shouldn't be required to define this argument, we use the trick of passing all args. -->
+  <include file="$(dirname)/$(arg moveit_controller_manager)_moveit_controller_manager.launch.xml" pass_all_args="true" />
+
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/warehouse.launch

@@ -0,0 +1,15 @@
+<launch>
+
+  <!-- The path to the database must be specified -->
+  <arg name="moveit_warehouse_database_path" />
+
+  <!-- Load warehouse parameters -->
+  <include file="$(dirname)/warehouse_settings.launch.xml" />
+
+  <!-- Run the DB server -->
+  <node name="$(anon mongo_wrapper_ros)" cwd="ROS_HOME" type="mongo_wrapper_ros.py" pkg="warehouse_ros_mongo">
+    <param name="overwrite" value="false"/>
+    <param name="database_path" value="$(arg moveit_warehouse_database_path)" />
+  </node>
+
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/launch/warehouse_settings.launch.xml

@@ -0,0 +1,16 @@
+<launch>
+  <!-- Set the parameters for the warehouse and run the mongodb server. -->
+
+  <!-- The default DB port for moveit (not default MongoDB port to avoid potential conflicts) -->
+  <arg name="moveit_warehouse_port" default="33829" />
+
+  <!-- The default DB host for moveit -->
+  <arg name="moveit_warehouse_host" default="localhost" />
+
+  <!-- Set parameters for the warehouse -->
+  <param name="warehouse_port" value="$(arg moveit_warehouse_port)"/>
+  <param name="warehouse_host" value="$(arg moveit_warehouse_host)"/>
+  <param name="warehouse_exec" value="mongod" />
+  <param name="warehouse_plugin" value="warehouse_ros_mongo::MongoDatabaseConnection" />
+
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_cobot_moveit/package.xml

@@ -0,0 +1,41 @@
+<package>
+
+  <name>limo_cobot_moveit</name>
+  <version>0.3.0</version>
+  <description>
+     An automatically generated package with all the configuration and launch files for using the limo_xacro with the MoveIt Motion Planning Framework
+  </description>
+  <author email="shiqi.zhao@agilex.ai">agilex</author>
+  <maintainer email="shiqi.zhao@agilex.ai">agilex</maintainer>
+
+  <license>BSD</license>
+
+  <url type="website">http://moveit.ros.org/</url>
+  <url type="bugtracker">https://github.com/ros-planning/moveit/issues</url>
+  <url type="repository">https://github.com/ros-planning/moveit</url>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <run_depend>moveit_ros_move_group</run_depend>
+  <run_depend>moveit_fake_controller_manager</run_depend>
+  <run_depend>moveit_kinematics</run_depend>
+  <run_depend>moveit_planners</run_depend>
+  <run_depend>moveit_ros_visualization</run_depend>
+  <run_depend>moveit_setup_assistant</run_depend>
+  <run_depend>moveit_simple_controller_manager</run_depend>
+  <run_depend>joint_state_publisher</run_depend>
+  <run_depend>joint_state_publisher_gui</run_depend>
+  <run_depend>robot_state_publisher</run_depend>
+  <run_depend>rviz</run_depend>
+  <run_depend>tf2_ros</run_depend>
+  <run_depend>xacro</run_depend>
+  <!-- The next 2 packages are required for the gazebo simulation.
+       We don't include them by default to prevent installing gazebo and all its dependencies. -->
+  <!-- <run_depend>joint_trajectory_controller</run_depend> -->
+  <!-- <run_depend>gazebo_ros_control</run_depend> -->
+  <!-- This package is referenced in the warehouse launch files, but does not build out of the box at the moment. Commented the dependency until this works. -->
+  <!-- <run_depend>warehouse_ros_mongo</run_depend> -->
+  <run_depend>limo_description</run_depend>
+
+
+</package>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/README.md

@@ -0,0 +1,186 @@
+[TOC]
+
+# Limo Simulation Operation Process
+
+## 1.	Introduction of Function Package
+
+```
+├── image
+├── limo_description
+├── limo_gazebo_sim
+```
+
+​	limo_description: The file is the function package of model file
+
+​	limo_gazebo_sim: The folder is gazebo simulation function package
+
+## 2.	Environment
+
+### Development Environment
+
+​	ubuntu 18.04 + [ROS Melodic desktop full](http://wiki.ros.org/melodic/Installation/Ubuntu)
+
+### Download and install required function package
+
+​	Download and install ros-control function package, ros-control is the robot control middleware provided by ROS
+
+```
+sudo apt-get install ros-melodic-ros-control
+```
+
+​	Download and install ros-controllers function package, ros-controllers are the kinematics plug-in of common models provided by ROS
+
+```
+sudo apt-get install ros-melodic-ros-controllers
+```
+
+​	Download and install gazebo-ros function package, gazebo-ros is the communication interface between gazebo and ROS, and connect the ROS and Gazebo
+
+```
+sudo apt-get install ros-melodic-gazebo-ros
+```
+
+​	Download and install gazebo-ros-control function package, gazebo-ros-control is the communication standard controller between ROS and Gazebo
+
+```
+sudo apt-get install ros-melodic-gazebo-ros-control
+```
+
+​	Download and install rqt-robot-steering plug-in, rqt_robot_steering is a ROS tool closely related to robot motion control, it can send the control command of robot linear motion and steering motion, and the robot motion can be easily controlled through the sliding bar
+
+```
+sudo apt-get install ros-melodic-rqt-robot-steering 
+```
+
+​	Download and install teleop-twist-keyboard function package, telop-twist-keyboard is keyboard control function package, the robot can be controlled to move forward, left, right and backward through "i", "j", "l",and "," on the keyboard
+
+```
+sudo apt-get install ros-melodic-teleop-twist-keyboard 
+```
+
+
+
+## 3.	About Usage
+
+### 1.	Create workspace, download simulation model function package and compile
+
+​		Open a new terminal and create a workspace named limo_ws, enter in the terminal:
+
+```
+mkdir limo_ws
+```
+
+​		Enter the limo_ws folder
+
+```
+cd limo_ws
+```
+
+​		Create a folder to store function package named src
+```
+mkdir src
+```
+
+​		Enter the src folder
+
+```
+cd src
+```
+
+​		Initialize folder
+
+```
+catkin_init_workspace
+```
+
+​		Download simulation model function package
+
+```
+git clone https://github.com/agilexrobotics/ugv_sim/limo.git
+```
+
+​		Enter the limo_ws folder
+
+```
+cd limo_ws
+```
+
+​		Confirm whether the dependency of the function package is installed
+
+```
+rosdep install --from-paths src --ignore-src -r -y 
+```
+
+​	Compile
+
+```
+catkin_make
+```
+
+
+
+### 2.	Run the star file of limo model and visualize the urdf file in Rviz
+
+​	Enter the limo_ws folder
+
+```
+cd limo_ws
+```
+
+​	Declare the environment variable
+
+```
+source devel/setup.bash
+```
+
+​	Run the start file of limo and visualize the model in Rviz
+
+roslaunch limo_description display_models.launch 
+
+![img](image/rviz.png) 
+
+### 3.	Start the gazebo simulation environment of limo and control limo movement in the gazebo
+
+​	Enter the limo_ws folder
+
+```
+cd limo_ws
+```
+
+​	Declare the environment variable
+
+```
+source devel/setup.bash
+```
+
+​	Start the simulation environment of limo, limo have two movement mode, the movement mode is Ackerman mode
+
+```
+roslaunch limo_gazebo_sim limo_ackerman.launch
+```
+
+​	Start rqt_robot_steering movement control plug-in, the sliding bar can control the robot motion
+
+```
+rosrun rqt_robot_steering rqt_robot_steering
+```
+
+![img](image/limo_ackerman.png) 
+
+Four-wheel differential steering movement mode
+
+```
+roslaunch limo_gazebo_sim limo_four_diff.launch 
+```
+
+Control by keyboard, the robot can be controlled to move forward, left, right and backward through "i", "j", "l",and "," on the keyboard
+
+```
+rosrun teleop_twist_keyboard teleop_twist_keyboard.py 
+```
+
+![img](image/limo_diff.png) 
+
+ 
+
+ 

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_description/CMakeLists.txt

@@ -0,0 +1,6 @@
+cmake_minimum_required(VERSION 3.0.2)
+project(limo_description)
+
+find_package(catkin REQUIRED)
+
+

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_description/launch/display_models.launch

@@ -0,0 +1,11 @@
+<launch>
+        <arg name="model" />
+	<arg name="robot_namespace" default="/"/>
+        <!-- <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> -->
+        <param name="robot_description" command="$(find xacro)/xacro '$(find limo_description)/urdf/limo_base.urdf' robot_namespace:=$(arg robot_namespace)" />
+
+        <node name="joint_state_publisher" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" ></node>
+        <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+        <node name="rviz" pkg="rviz" type="rviz" args="-d $(find limo_description)/rviz/model_display.rviz" />
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_description/package.xml

@@ -0,0 +1,12 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>limo_description</name>
+  <version>0.0.0</version>
+  <description>The limo_description package</description>
+
+  <maintainer email="pengju.du@agilex.ai">agilex</maintainer>
+  <license>BSD 3-Clause</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+</package>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_description/rviz/model_display.rviz

@@ -0,0 +1,289 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 0
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /Status1
+        - /TF1/Tree1
+      Splitter Ratio: 0.5
+    Tree Height: 409
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.5886790156364441
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: PointCloud2
+Preferences:
+  PromptSaveOnExit: true
+Toolbars:
+  toolButtonStyle: 2
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.029999999329447746
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Alpha: 1
+      Class: rviz/RobotModel
+      Collision Enabled: false
+      Enabled: true
+      Links:
+        All Links Enabled: true
+        Expand Joint Details: false
+        Expand Link Details: false
+        Expand Tree: false
+        Link Tree Style: Links in Alphabetic Order
+        base_footprint:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        base_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        depth_camera_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        depth_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        front_left_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        front_right_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        imu_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        inertial_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+        laser_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_left_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+        rear_right_wheel_link:
+          Alpha: 1
+          Show Axes: false
+          Show Trail: false
+          Value: true
+      Name: RobotModel
+      Robot Description: robot_description
+      TF Prefix: ""
+      Update Interval: 0
+      Value: true
+      Visual Enabled: true
+    - Class: rviz/TF
+      Enabled: false
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: false
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/PointCloud2
+      Color: 255; 255; 255
+      Color Transformer: RGB8
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: 4096
+      Min Color: 0; 0; 0
+      Min Intensity: 0
+      Name: PointCloud2
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /limo/depth/points
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Alpha: 1
+      Autocompute Intensity Bounds: true
+      Autocompute Value Bounds:
+        Max Value: 10
+        Min Value: -10
+        Value: true
+      Axis: Z
+      Channel Name: intensity
+      Class: rviz/LaserScan
+      Color: 255; 255; 255
+      Color Transformer: Intensity
+      Decay Time: 0
+      Enabled: true
+      Invert Rainbow: false
+      Max Color: 255; 255; 255
+      Max Intensity: -999999
+      Min Color: 0; 0; 0
+      Min Intensity: 999999
+      Name: LaserScan
+      Position Transformer: XYZ
+      Queue Size: 10
+      Selectable: true
+      Size (Pixels): 3
+      Size (m): 0.009999999776482582
+      Style: Flat Squares
+      Topic: /limo/scan
+      Unreliable: false
+      Use Fixed Frame: true
+      Use rainbow: true
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /limo/color/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+    - Class: rviz/Image
+      Enabled: true
+      Image Topic: /limo/depth/image_raw
+      Max Value: 1
+      Median window: 5
+      Min Value: 0
+      Name: Image
+      Normalize Range: true
+      Queue Size: 2
+      Transport Hint: raw
+      Unreliable: false
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Default Light: true
+    Fixed Frame: base_footprint
+    Frame Rate: 30
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Theta std deviation: 0.2617993950843811
+      Topic: /initialpose
+      X std deviation: 0.5
+      Y std deviation: 0.5
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 4.5108642578125
+      Enable Stereo Rendering:
+        Stereo Eye Separation: 0.05999999865889549
+        Stereo Focal Distance: 1
+        Swap Stereo Eyes: false
+        Value: false
+      Focal Point:
+        X: 1.1277321577072144
+        Y: 0.9605672359466553
+        Z: -0.7468191385269165
+      Focal Shape Fixed Size: true
+      Focal Shape Size: 0.05000000074505806
+      Invert Z Axis: false
+      Name: Current View
+      Near Clip Distance: 0.009999999776482582
+      Pitch: 0.6147964000701904
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 4.540402889251709
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 1025
+  Hide Left Dock: false
+  Hide Right Dock: true
+  Image:
+    collapsed: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000019200000363fc020000000bfb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005c00fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000003d000001d6000000c900fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261fb0000000c00430061006d006500720061010000023a000000990000000000000000fb0000000a0049006d0061006700650100000219000000ba0000001600fffffffb0000000a0049006d00610067006501000002d9000000c70000001600ffffff000000010000010f00000363fc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073000000003d00000363000000a400fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e100000197000000030000073d0000003efc0100000002fb0000000800540069006d006501000000000000073d000002eb00fffffffb0000000800540069006d00650100000000000004500000000000000000000005a50000036300000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: true
+  Width: 1853
+  X: 1987
+  Y: 27

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_description/urdf/limo_ackerman.gazebo

@@ -0,0 +1,54 @@
+<?xml version="1.0"?>
+<robot name="limo_ackerman" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="$(find limo_description)/urdf/limo_gazebo.gazebo" />
+
+    <!-- Actuator configurations -->
+    <xacro:limo_wheel_transmission wheel_prefix="front_right" />
+    <xacro:limo_wheel_transmission wheel_prefix="front_left" />
+    <xacro:limo_wheel_transmission wheel_prefix="rear_left" />
+    <xacro:limo_wheel_transmission wheel_prefix="rear_right" />
+    <xacro:limo_steering_hinge_transmission wheel_prefix="left_steering_hinge" />
+    <xacro:limo_steering_hinge_transmission wheel_prefix="right_steering_hinge" />
+    <!-- Controller configurations -->
+    <xacro:gazebo_laser frame_prefix="laser" />
+    <xacro:gazebo_depth_camera frame_prefix="depth_camera" />
+    <xacro:gazebo_imu frame_prefix="imu" />
+
+    <gazebo>
+        <mu1 value="10"/>
+        <mu2 value="10"/>
+        <kp value="10000000.0" />
+        <kd value="1.0" />
+        <fdir1 value="1 0 0"/>
+        <minDepth value="0.001" />
+        <maxContacts value="64"/>
+    </gazebo>
+
+    <gazebo>
+        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+            <robotNamespace>$(arg robot_namespace)</robotNamespace>
+        </plugin>
+
+        <plugin name="four_diff_controller" filename="libgazebo_ros_ackerman.so">
+            <updateRate>100.0</updateRate>
+            <robotNamespace>$(arg robot_namespace)</robotNamespace>
+            <leftFrontJoint>front_left_wheel</leftFrontJoint>
+            <rightFrontJoint>front_right_wheel</rightFrontJoint>
+            <leftRearJoint>rear_left_wheel</leftRearJoint>
+            <rightRearJoint>rear_right_wheel</rightRearJoint>
+            <leftHingeJoint>left_steering_hinge_wheel</leftHingeJoint>
+            <rightHingeJoint>right_steering_hinge_wheel</rightHingeJoint>
+            <wheelSeparation>0.172</wheelSeparation>
+            <wheelDiameter>0.09</wheelDiameter>
+            <robotBaseFrame>base_footprint</robotBaseFrame>
+            <commandTopic>cmd_vel</commandTopic>
+            <torque>50</torque>
+            <broadcastTF>true</broadcastTF>
+            <odometryTopic>odom</odometryTopic>
+            <odometryFrame>odom</odometryFrame>
+            <covariance_x>0.000100</covariance_x>
+            <covariance_y>0.000100</covariance_y>
+            <covariance_yaw>0.010000</covariance_yaw>
+        </plugin>
+    </gazebo>
+</robot>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_description/urdf/limo_ackerman.xacro

@@ -0,0 +1,137 @@
+<?xml version="1.0"?>
+
+<robot name="limo_ackerman" xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <xacro:arg name="robot_namespace" default="/" />
+    <xacro:include filename="$(find limo_description)/urdf/limo_xacro.xacro" />
+    <xacro:include filename="$(find limo_description)/urdf/limo_steering_hinge.xacro" />
+    <xacro:include filename="$(find limo_description)/urdf/limo_ackerman.gazebo" />
+
+    <!-- Variables -->
+    <xacro:property name="M_PI" value="3.14159"/>
+
+    <!-- Vehicle Geometries -->
+    <xacro:property name="base_x_size" value="0.13" />
+    <xacro:property name="base_y_size" value="0.12" />
+    <xacro:property name="base_z_size" value="0.10" />
+
+    <xacro:property name="wheelbase" value="0.2"/>
+    <xacro:property name="track" value="0.14"/>
+    <xacro:property name="wheel_vertical_offset" value="-0.100998" />
+    <xacro:property name="base_mass" value="2.1557"/>
+
+    <xacro:property name="wheel_length" value="0.045" />
+    <xacro:property name="wheel_radius" value="0.045" />
+    <link name="base_footprint"/>
+
+    <joint name="base_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+    <origin xyz="0.0 0.0 0.15" rpy="0 0 0"/>
+    </joint>
+    <!-- Base link -->
+    <link name="base_link">
+        <visual>
+            <origin xyz="0 0 -0.15" rpy="0 0 1.57" />
+            <geometry>
+                <mesh filename="package://limo_description/meshes/limo_base.dae" scale="1 1 1"/>
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+              <box size="${base_x_size} ${base_y_size} ${base_z_size}"/>
+          </geometry>
+        </collision>
+    </link>
+
+    <link name="inertial_link">
+        <inertial>
+            <origin xyz="0.0 0.0 0.0" />
+            <mass value="${base_mass}" />
+            <inertia ixx="0.24" ixy="0" ixz="0" 
+                     iyy="0.96" iyz="0" 
+                     izz="0.96" />
+        </inertial>
+    </link>
+
+    <joint name="inertial_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="inertial_link" />
+    </joint>
+
+    <xacro:limo_laser parent_prefix="base_link" frame_prefix="laser">
+        <origin xyz="0.103 0 -0.034" rpy="0 0 0"/>
+    </xacro:limo_laser>
+
+    <xacro:limo_depth_camera parent_prefix="base_link" frame_prefix="depth_camera">
+        <origin xyz="0.084 0 0.03" rpy="0 0 0"/>
+    </xacro:limo_depth_camera>
+
+    <xacro:limo_imu parent_prefix="base_link" frame_prefix="imu">
+        <origin xyz="0.0 0 -0.1" rpy="0 0 0"/>
+    </xacro:limo_imu>
+    
+    <xacro:limo_left_steering_hinge parent_prefix="base_link" wheel_prefix="left_steering_hinge">
+        <origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0  0" />
+    </xacro:limo_left_steering_hinge>
+
+    <xacro:limo_right_steering_hinge parent_prefix="base_link" wheel_prefix="right_steering_hinge">
+        <origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="${M_PI} 0 0" />
+    </xacro:limo_right_steering_hinge>
+
+
+    <link name="rear_left_wheel_link">
+        <inertial>
+            <origin xyz="0 0 0" />
+            <mass value="0.5" />
+            <inertia ixx="0.01055" ixy="0" ixz="0" iyy="0.00075" iyz="0" izz="0.01055" /> 
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://limo_description/meshes/limo_wheel.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 ${wheel_length/2} 0" rpy="1.57 0 0" />
+          <geometry>
+              <cylinder length="${wheel_length}" radius="${wheel_radius}" />
+          </geometry>
+        </collision>
+    </link>
+    <joint name="rear_left_wheel" type="continuous">
+        <parent link="base_link"/>
+        <child link="rear_left_wheel_link"/>
+        <origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
+        <axis xyz="0 1 0"/>
+    </joint>
+
+    <link name="rear_right_wheel_link">
+        <inertial>
+            <origin xyz="0 0 0" />
+            <mass value="0.5" />
+            <inertia ixx="0.01055" ixy="0" ixz="0" iyy="0.00075" iyz="0" izz="0.01055" /> 
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://limo_description/meshes/limo_wheel.dae" />
+            </geometry>
+        </visual>
+            <collision>
+                <origin xyz="0 ${wheel_length/2} 0" rpy="1.57 0 0" />
+              <geometry>
+                  <cylinder length="${wheel_length}" radius="${wheel_radius}" />
+              </geometry>
+            </collision>
+        </link>
+
+        <joint name="rear_right_wheel" type="continuous">
+            <parent link="base_link"/>
+            <child link="rear_right_wheel_link"/>
+            <origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="${M_PI} 0 0" />
+            <axis xyz="0 -1 0"/>
+        </joint>
+</robot>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_description/urdf/limo_base.urdf

@@ -0,0 +1,746 @@
+<?xml version="1.0" ?>
+<robot name="limo_xacro" xmlns:xacro="http://ros.org/wiki/xacro">
+
+
+    <link name="base_footprint" />
+    <joint name="base_joint" type="fixed">
+        <parent link="base_footprint" />
+        <child link="base_link" />
+        <origin xyz="0.0 0.0 0.15" rpy="0 0 0" />
+    </joint>
+    <!-- Base link -->
+    <link name="base_link">
+        <visual>
+            <origin xyz="0 0 -0.15" rpy="0 0 1.57" />
+            <geometry>
+                <mesh filename="package://limo_description/meshes/limo_base.dae" scale="1 1 1" />
+            </geometry>
+        </visual>
+        <collision>
+            <!--origin xyz="0 0 -0.15" rpy="0 0 1.57" /-->
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <box size="0.13 0.12 0.1" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="inertial_link">
+        <inertial>
+            <origin xyz="0.0 0.0 0.0" />
+            <mass value="2.1557" />
+            <inertia ixx="0.24" ixy="0" ixz="0" iyy="0.96" iyz="0" izz="0.96" />
+        </inertial>
+    </link>
+    <joint name="inertial_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="inertial_link" />
+    </joint>
+    <link name="front_left_wheel_link">
+        <inertial>
+            <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+            <mass value="0.5" />
+            <inertia ixx="0.01055" ixy="0" ixz="0" iyy="0.00075" iyz="0" izz="0.01055" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://limo_description/meshes/limo_wheel.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0.0225 0" rpy="1.57 0 0" />
+            <geometry>
+                <cylinder length="0.045" radius="0.045" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="front_left_wheel" type="continuous">
+        <parent link="base_link" />
+        <child link="front_left_wheel_link" />
+        <origin xyz="0.1 0.065 -0.1" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+    </joint>
+    <link name="front_right_wheel_link">
+        <inertial>
+            <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+            <mass value="0.5" />
+            <inertia ixx="0.01055" ixy="0" ixz="0" iyy="0.00075" iyz="0" izz="0.01055" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 3.14" />
+            <geometry>
+                <mesh filename="package://limo_description/meshes/limo_wheel.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 -0.0225 0" rpy="1.57 0 0" />
+            <geometry>
+                <cylinder length="0.045" radius="0.045" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="front_right_wheel" type="continuous">
+        <parent link="base_link" />
+        <child link="front_right_wheel_link" />
+        <origin xyz="0.1 -0.065 -0.1" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+    </joint>
+    <link name="rear_left_wheel_link">
+        <inertial>
+            <origin xyz="0.0 0.0 0.0 " rpy="0 0 0" />
+            <mass value="0.5" />
+            <inertia ixx="0.01055" ixy="0" ixz="0" iyy="0.00075" iyz="0" izz="0.01055" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <geometry>
+                <mesh filename="package://limo_description/meshes/limo_wheel.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 0.0225 0" rpy="1.57 0 0" />
+            <geometry>
+                <cylinder length="0.045" radius="0.045" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="rear_left_wheel" type="continuous">
+        <parent link="base_link" />
+        <child link="rear_left_wheel_link" />
+        <origin xyz="-0.1 0.065 -0.1" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+    </joint>
+    <link name="rear_right_wheel_link">
+        <inertial>
+            <origin xyz="0.0 0.0 0.0" rpy="0 0 0" />
+            <mass value="0.5" />
+            <inertia ixx="0.01055" ixy="0" ixz="0" iyy="0.00075" iyz="0" izz="0.01055" />
+        </inertial>
+        <visual>
+            <origin xyz="0 0 0" rpy="0 0 3.14" />
+            <geometry>
+                <mesh filename="package://limo_description/meshes/limo_wheel.dae" />
+            </geometry>
+        </visual>
+        <collision>
+            <origin xyz="0 -0.0225 0" rpy="1.57 0 0" />
+            <geometry>
+                <cylinder length="0.045" radius="0.045" />
+            </geometry>
+        </collision>
+    </link>
+    <joint name="rear_right_wheel" type="continuous">
+        <parent link="base_link" />
+        <child link="rear_right_wheel_link" />
+        <origin xyz="-0.1 -0.065 -0.1" rpy="0 0 0" />
+        <axis xyz="0 1 0" />
+    </joint>
+
+       <link name="laser_link">
+            <pose>0 0 0 0 0 0</pose>
+            <inertial>
+                <mass value="0.1"/>
+                <origin xyz="0.0 0 0" rpy="0 0 0"/>
+                <inertia
+                    ixx="1e-6" ixy="0" ixz="0"
+                    iyy="1e-6" iyz="0"
+                    izz="1e-6"
+                />
+            </inertial>
+            <visual name='laser_visual'>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <cylinder radius="0.02" length="0.01"/>
+                </geometry>
+                <material name='laser_material'>
+                    <ambient>0.1 0.1 0.1 1</ambient>
+                    <diffuse>0.1 0.1 0.2 1</diffuse>
+                    <specular>0 0 0 0</specular>
+                    <emissive>0 0 0 1</emissive>
+                </material>
+            </visual>
+            <collision name='laser_collision'>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <cylinder radius="0.032" length="0.016"/>
+                </geometry>
+            </collision>
+        </link>
+        <joint type="fixed" name="laser_joint">
+            <origin xyz="0.103 0 -0.034" rpy="0 0 0"/>
+            <child link="laser_link"/>
+            <parent link="base_link"/>
+        </joint>
+
+        <link name="depth_camera_link">
+            <pose>0 0 0 0 0 0</pose>
+            <inertial>
+                <mass value="0.1"/>
+                <origin xyz="0.0 0 0" rpy="0 0 0"/>
+                <inertia
+                    ixx="1e-6" ixy="0" ixz="0"
+                    iyy="1e-6" iyz="0"
+                    izz="1e-6"
+                />
+            </inertial>
+            <visual name='depth_camera_visual'>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <box size="0.02 0.06 0.015"/>
+                </geometry>
+                <material name='depth_camera_material'>
+                    <ambient>0.1 0.1 0.1 1</ambient>
+                    <diffuse>0.1 0.1 0.2 1</diffuse>
+                    <specular>0 0 0 0</specular>
+                    <emissive>0 0 0 1</emissive>
+                </material>
+            </visual>
+            <collision name='depth_camera_collision'>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <box size="0.02 0.06 0.015"/>
+                </geometry>
+            </collision>
+        </link>
+    
+        <joint type="fixed" name="depth_camera_joint">
+            <origin xyz="0.084 0 0.03" rpy="0 0 0"/>
+            <child link="depth_camera_link"/>
+            <parent link="base_link"/>
+        </joint>
+        <link name="depth_link"></link>
+
+        <joint name="depth_camera_to_camera_joint" type="fixed">
+            <origin xyz="0 0 0" rpy="-1.57 0 -1.57 "/>
+            <parent link="depth_camera_link"/>
+            <child link="depth_link"/>
+          </joint>
+
+       <link name="imu_link">
+            <pose>0 0 0 0 0 0</pose>
+            <inertial>
+                <mass value="0.01"/>
+                <origin xyz="0.0 0 0" rpy="0 0 0"/>
+                <inertia
+                    ixx="1e-7" ixy="0" ixz="0"
+                    iyy="1e-7" iyz="0"
+                    izz="1e-7"
+                />
+            </inertial>
+            <visual name='imu_visual'>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <box size="0.001 0.001 0.001"/>
+                </geometry>
+                <material name='imu_material'>
+                    <ambient>0.1 0.1 0.1 1</ambient>
+                    <diffuse>0.1 0.1 0.2 1</diffuse>
+                    <specular>0 0 0 0</specular>
+                    <emissive>0 0 0 1</emissive>
+                </material>
+            </visual>
+            <collision name='imu_collision'>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <box size="0.001 0.001 0.001"/>
+                </geometry>
+            </collision>
+        </link>
+        <joint type="fixed" name="imu_joint">
+        <origin xyz="0.0 0 -0.1" rpy="0 0 0"/>
+            <child link="imu_link"/>
+            <parent link="base_link"/>
+        </joint>
+
+    <joint name="limo_mycobot" type="fixed">
+        <origin xyz="-0.01 0.0 0.0" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="joint1" />
+    </joint>
+    <link name="joint1">
+        <visual>
+            <geometry>
+                <!--- 0.0 0 -0.04  1.5708 3.14159-->
+                <mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae" />
+            </geometry>
+            <origin xyz="0.0 0 0 " rpy=" 0 0 -1.5708" />
+        </visual>
+        <collision>
+            <geometry>
+                <!--- 0.0 0 -0.04  1.5708 3.14159-->
+                <mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae" />
+            </geometry>
+            <origin xyz="0.0 0 0 " rpy=" 0 0 -1.5708" />
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="joint2">
+        <visual>
+            <geometry>
+                <mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae" />
+            </geometry>
+            <origin xyz="0.0 0 -0.06096 " rpy=" 0 0 -1.5708" />
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae" />
+            </geometry>
+            <origin xyz="0.0 0 -0.06096 " rpy=" 0 0 -1.5708" />
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="joint3">
+        <visual>
+            <geometry>
+                <mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae" />
+            </geometry>
+            <origin xyz="0.0 0 0.03256 " rpy=" 0 -1.5708 0" />
+        </visual>
+        <collision>
+            <geometry>
+                <mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae" />
+            </geometry>
+            <origin xyz="0.0 0 0.03256 " rpy=" 0 -1.5708 0" />
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="joint4">
+        <visual>
+            <geometry>
+                <!--- 0.0 0 -0.04 -->
+                <mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae" />
+            </geometry>
+            <origin xyz="0.0 0 0.03056 " rpy=" 0 -1.5708 0" />
+        </visual>
+        <collision>
+            <geometry>
+                <!--- 0.0 0 -0.04 -->
+                <mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae" />
+            </geometry>
+            <origin xyz="0.0 0 0.03056 " rpy=" 0 -1.5708 0" />
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="joint5">
+        <visual>
+            <geometry>
+                <!--- 0.0 0 -0.04 -->
+                <mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae" />
+            </geometry>
+            <origin xyz="0.0 0 -0.03356 " rpy=" -1.5708 0 0" />
+        </visual>
+        <collision>
+            <geometry>
+                <!--- 0.0 0 -0.04 -->
+                <mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae" />
+            </geometry>
+            <origin xyz="0.0 0 -0.03356 " rpy=" -1.5708 0 0" />
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="joint6">
+        <visual>
+            <geometry>
+                <!--- 0.0 0 -0.04 -->
+                <mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae" />
+            </geometry>
+            <origin xyz="0 0.00 -0.038 " rpy=" 0 0 0" />
+        </visual>
+        <collision>
+            <geometry>
+                <!--- 0.0 0 -0.04 -->
+                <mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae" />
+            </geometry>
+            <origin xyz="0 0.00 -0.038 " rpy=" 0 0 0" />
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <link name="joint6_flange">
+        <visual>
+            <geometry>
+                <!--- 0.0 0 -0.04 -->
+                <mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae" />
+            </geometry>
+            <origin xyz="0.0 0 -0.012 " rpy=" 0 0 0" />
+        </visual>
+        <collision>
+            <geometry>
+                <!--- 0.0 0 -0.04 -->
+                <mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae" />
+            </geometry>
+            <origin xyz="0.0 0 -0.012 " rpy=" 0 0 0" />
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <joint name="joint2_to_joint1" type="revolute">
+        <axis xyz="0 0 1" />
+        <limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="10" />
+        <parent link="joint1" />
+        <child link="joint2" />
+        <origin xyz="0 0 0.13156" rpy="0 0 0" />
+    </joint>
+    <joint name="joint3_to_joint2" type="revolute">
+        <axis xyz="0 0 1" />
+        <limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="10" />
+        <parent link="joint2" />
+        <child link="joint3" />
+        <origin xyz="0 0  0" rpy="0 1.5708 -1.5708" />
+    </joint>
+    <joint name="joint4_to_joint3" type="revolute">
+        <axis xyz=" 0 0 1" />
+        <limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="10" />
+        <parent link="joint3" />
+        <child link="joint4" />
+        <origin xyz="  -0.1104 0 0   " rpy="0 0 0" />
+    </joint>
+    <joint name="joint5_to_joint4" type="revolute">
+        <axis xyz=" 0 0 1" />
+        <limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="10" />
+        <parent link="joint4" />
+        <child link="joint5" />
+        <origin xyz="-0.096 0 0.06462" rpy="0 0 -1.5708" />
+    </joint>
+    <joint name="joint6_to_joint5" type="revolute">
+        <axis xyz="0 0 1" />
+        <limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="10" />
+        <parent link="joint5" />
+        <child link="joint6" />
+        <origin xyz="0 -0.07318 0" rpy="1.5708 -1.5708 0" />
+    </joint>
+    <joint name="joint6output_to_joint6" type="revolute">
+        <axis xyz="0 0 1" />
+        <limit effort="1000.0" lower="-3.14" upper="3.14159" velocity="10" />
+        <parent link="joint6" />
+        <child link="joint6_flange" />
+        <origin xyz="0 0.0456 0" rpy="-1.5708 0 0" />
+    </joint>
+    <link name="gripper_finger_link1">
+        <visual>
+            <origin xyz="0.0 0.0 0" />
+            <geometry>
+                <box size="0.04 0.01 0.01" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <box size="0.04 0.01 0.01" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <joint name="finger_joint2" type="fixed">
+        <parent link="joint6_flange" />
+        <child link="gripper_finger_link1" />
+        <origin xyz="-0.02 0 0.02" rpy="0.0 1.57 0.0" />
+    </joint>
+    <!-- RIGHT GRIPPER AFT LINK -->
+    <link name="gripper_finger_link2">
+        <visual>
+            <origin xyz="0.0 0.0 0" />
+            <geometry>
+                <box size="0.04 0.01 0.01" />
+            </geometry>
+        </visual>
+        <collision>
+            <geometry>
+                <box size="0.04 0.01 0.01" />
+            </geometry>
+        </collision>
+        <inertial>
+            <mass value="0.1" />
+            <origin xyz="0 0 0" rpy="0 0 0" />
+            <inertia ixx="0.03" iyy="0.03" izz="0.03" ixy="0.0" ixz="0.0" iyz="0.0" />
+        </inertial>
+    </link>
+    <joint name="grasping_frame_joint" type="prismatic">
+        <parent link="joint6_flange" />
+        <child link="gripper_finger_link2" />
+        <origin xyz="0.02 0.0 0.02" rpy="0.0 1.57 0.0" />
+        <limit effort="1000.0" lower="-0.03" upper="0.0" velocity="10" />
+        <axis xyz="0 0 1" />
+    </joint>
+
+    <transmission name="trans_front_left_wheel">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="front_left_wheel">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="front_left_wheel_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_front_right_wheel">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="front_right_wheel">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="front_right_wheel_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_rear_left_wheel">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="rear_left_wheel">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="rear_left_wheel_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_rear_right_wheel">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="rear_right_wheel">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="rear_right_wheel_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint2_to_joint1">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint2_to_joint1">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint2_to_joint1_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint3_to_joint2">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint3_to_joint2">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint3_to_joint2_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint4_to_joint3">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint4_to_joint3">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint4_to_joint3_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint5_to_joint4">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint5_to_joint4">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint5_to_joint4_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint6_to_joint5">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint6_to_joint5">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint6_to_joint5_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+    <transmission name="trans_joint6output_to_joint6">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="joint6output_to_joint6">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="joint6output_to_joint6_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+
+    <transmission name="trans_grasping_frame_joint">
+        <type>transmission_interface/SimpleTransmission</type>
+        <joint name="grasping_frame_joint">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+        </joint>
+        <actuator name="grasping_frame_joint_motor">
+            <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            <mechanicalReduction>1</mechanicalReduction>
+        </actuator>
+    </transmission>
+
+    <gazebo>
+        <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+            <robotNamespace>/</robotNamespace>
+        </plugin>
+    </gazebo>
+
+
+    <gazebo>
+
+        <plugin name="four_diff_controller" filename="libgazebo_ros_skid_steer_drive.so">
+            <updateRate>50.0</updateRate>
+            <robotNamespace>/</robotNamespace>
+            <leftFrontJoint>front_left_wheel</leftFrontJoint>
+            <rightFrontJoint>front_right_wheel</rightFrontJoint>
+            <leftRearJoint>rear_left_wheel</leftRearJoint>
+            <rightRearJoint>rear_right_wheel</rightRearJoint>
+            <wheelSeparation>0.172</wheelSeparation>
+            <wheelDiameter>0.09</wheelDiameter>
+            <robotBaseFrame>base_footprint</robotBaseFrame>
+            <commandTopic>cmd_vel</commandTopic>
+            <torque>50</torque>
+            <broadcastTF>true</broadcastTF>
+            <odometryTopic>odom</odometryTopic>
+            <odometryFrame>odom</odometryFrame>
+            <covariance_x>0.000100</covariance_x>
+            <covariance_y>0.000100</covariance_y>
+            <covariance_yaw>0.010000</covariance_yaw>
+        </plugin>
+    </gazebo>
+
+        <gazebo reference="laser_link">
+            <sensor type="ray" name="laser_sensor">
+              <pose>0 0 0 0 0 0</pose>
+              <visualize>false</visualize>
+              <update_rate>8</update_rate>
+              <ray>
+                <scan>
+                  <horizontal>
+                    <samples>720</samples>
+                    <resolution>1</resolution>
+                    <min_angle>-2.09439504</min_angle>
+                    <max_angle>2.09439504</max_angle>
+                  </horizontal>
+                </scan>
+                <range>
+                  <min>0.05</min>
+                  <max>8.0</max>
+                  <resolution>0.01</resolution>
+                </range>
+                <noise>
+                  <type>gaussian</type>
+                  <mean>0.0</mean>
+                  <stddev>0.01</stddev>
+                </noise>
+              </ray>
+              <plugin name="gazebo_ros_laser_sensor" filename="libgazebo_ros_laser.so">
+                <topicName>/limo/scan</topicName>
+                <frameName>laser_link</frameName>
+              </plugin>
+            </sensor>
+          </gazebo>
+
+
+        <gazebo reference="depth_camera_link">
+          <sensor name="sensor_camera" type="depth">
+            <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+            <always_on>true</always_on>
+            <visualize>true</visualize>
+            <update_rate>10.0</update_rate>
+            <camera name="head">
+              <horizontal_fov>1.3962634</horizontal_fov>
+              <image>
+                  <width>640</width>
+                  <height>480</height>
+                  <format>R8G8B8</format>
+              </image>
+              <clip>
+                  <near>0.02</near>
+                  <far>300</far>
+              </clip>
+            </camera>
+
+            <plugin name="gazebo_ros_depth_camera_sensor" filename="libgazebo_ros_openni_kinect.so">
+              <baseline>0.2</baseline>
+              <alwaysOn>true</alwaysOn>
+              <!-- Keep this zero, update_rate in the parent <sensor> tag
+                will control the frame rate. -->
+              <updateRate>0.0</updateRate>
+              <cameraName>camera_ir</cameraName>
+              <imageTopicName>/limo/color/image_raw</imageTopicName>
+              <cameraInfoTopicName>/limo/color/camera_info</cameraInfoTopicName>
+              <depthImageTopicName>/limo/depth/image_raw</depthImageTopicName>
+              <depthImageCameraInfoTopicName>/limo/depth/camera_info</depthImageCameraInfoTopicName>
+              <pointCloudTopicName>/limo/depth/points</pointCloudTopicName>
+              <frameName>depth_link</frameName>
+              <cameraname>depth_camera_link</cameraname>
+              
+              <pointCloudCutoff>0.5</pointCloudCutoff>
+              <pointCloudCutoffMax>3.0</pointCloudCutoffMax>
+              <distortionK1>0</distortionK1>
+              <distortionK2>0</distortionK2>
+              <distortionK3>0</distortionK3>
+              <distortionT1>0</distortionT1>
+              <distortionT2>0</distortionT2>
+              <CxPrime>0</CxPrime>
+              <Cx>0</Cx>
+              <Cy>0</Cy>
+              <focalLength>0</focalLength>
+              <hackBaseline>0</hackBaseline>
+            </plugin>
+        </sensor>
+          </gazebo>
+
+      <gazebo reference="imu_link">
+        <gravity>true</gravity>
+        <sensor name="imu_sensor" type="imu">
+          <always_on>true</always_on>
+          <update_rate>100</update_rate>
+          <visualize>true</visualize>
+          <topic>__default_topic__</topic>
+          <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
+            <topicName>/limo/imu</topicName>
+            <bodyName>${frame_prefix}_link</bodyName>
+            <updateRateHZ>100.0</updateRateHZ>
+            <gaussianNoise>0.001</gaussianNoise>
+            <xyzOffset>0 0 0</xyzOffset>
+            <rpyOffset>0 0 0</rpyOffset>
+            <frameName>imu_link</frameName>
+          </plugin>
+          <pose>0 0 0 0 0 0</pose>
+        </sensor>
+      </gazebo>
+</robot>
+

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_description/urdf/limo_four_diff.gazebo

@@ -0,0 +1,78 @@
+<?xml version="1.0"?>
+
+<robot name="limo_four_diff" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="$(find limo_description)/urdf/limo_gazebo.gazebo" />
+
+    <!-- Actuator configurations -->
+    <!-- <xacro:limo_wheel_transmission wheel_prefix="front_right" />
+    <xacro:limo_wheel_transmission wheel_prefix="front_left" />
+    <xacro:limo_wheel_transmission wheel_prefix="rear_left" />
+    <xacro:limo_wheel_transmission wheel_prefix="rear_right" /> -->
+    <!-- Controller configurations -->
+    <xacro:gazebo_laser frame_prefix="laser" />
+    <xacro:gazebo_depth_camera frame_prefix="depth_camera" />
+    <xacro:gazebo_imu frame_prefix="imu" />
+    
+    <gazebo reference="front_left_wheel">
+        <mu1>10</mu1>
+        <mu2>10</mu2>
+        <kp>10000000.0</kp>
+        <kd>1.0</kd>
+        <minDepth>0.01</minDepth>
+        <fdir1>1 0 0</fdir1>
+        <maxContacts value="64"/>
+    </gazebo>
+    <gazebo reference="front_right_wheel">
+        <mu1>10</mu1>
+        <mu2>10</mu2>
+        <kp>10000000.0</kp>
+        <kd>1.0</kd>
+        <minDepth>0.01</minDepth>
+        <fdir1>1 0 0</fdir1>
+        <maxContacts value="64"/>
+    </gazebo>
+    <gazebo reference="rear_left_wheel">
+        <mu1>10</mu1>
+        <mu2>10</mu2>
+        <kp>10000000.0</kp>
+        <kd>1.0</kd>
+        <minDepth>0.01</minDepth>
+        <fdir1>1 0 0</fdir1>
+        <maxContacts value="64"/>
+    </gazebo>
+    <gazebo reference="rear_right_wheel">
+        <mu1>10</mu1>
+        <mu2>10</mu2>
+        <kp>10000000.0</kp>
+        <kd>1.0</kd>
+        <minDepth>0.01</minDepth>
+        <fdir1>1 0 0</fdir1>
+        <maxContacts value="64"/>
+    </gazebo>
+
+    <gazebo>
+        <!-- <plugin name="gazebo_ros_control" filename="libgazebo_ros_control.so">
+            <robotNamespace>/</robotNamespace>
+        </plugin> -->
+
+        <plugin name="four_diff_controller" filename="libgazebo_ros_skid_steer_drive.so">
+            <updateRate>100.0</updateRate>
+            <robotNamespace>/</robotNamespace>
+            <leftFrontJoint>front_left_wheel</leftFrontJoint>
+            <rightFrontJoint>front_right_wheel</rightFrontJoint>
+            <leftRearJoint>rear_left_wheel</leftRearJoint>
+            <rightRearJoint>rear_right_wheel</rightRearJoint>
+            <wheelSeparation>0.172</wheelSeparation>
+            <wheelDiameter>0.09</wheelDiameter>
+            <robotBaseFrame>base_footprint</robotBaseFrame>
+            <commandTopic>cmd_vel</commandTopic>
+            <torque>50</torque>
+            <broadcastTF>true</broadcastTF>
+            <odometryTopic>odom</odometryTopic>
+            <odometryFrame>odom</odometryFrame>
+            <covariance_x>0.000100</covariance_x>
+            <covariance_y>0.000100</covariance_y>
+            <covariance_yaw>0.010000</covariance_yaw>
+        </plugin>
+    </gazebo>
+</robot>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_description/urdf/limo_four_diff.xacro

@@ -0,0 +1,90 @@
+<?xml version="1.0"?>
+
+<robot name="limo_four_diff" xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <xacro:include filename="$(find limo_description)/urdf/limo_xacro.xacro" />
+    <xacro:include filename="$(find limo_description)/urdf/limo_four_diff.gazebo" />
+
+    <!-- Variables -->
+    <xacro:property name="M_PI" value="3.14159"/>
+
+    <!-- Vehicle Geometries -->
+    <xacro:property name="base_x_size" value="0.13" />
+    <xacro:property name="base_y_size" value="0.12" />
+    <xacro:property name="base_z_size" value="0.1" />
+  
+    <xacro:property name="wheelbase" value="0.2"/>
+    <xacro:property name="track" value="0.13"/>
+    <xacro:property name="wheel_vertical_offset" value="-0.10" />
+    <xacro:property name="base_mass" value="2.1557"/>
+
+    <xacro:property name="wheel_length" value="0.045" />
+    <xacro:property name="wheel_radius" value="0.045" />
+  <link name="base_footprint"/>
+
+  <joint name="base_joint" type="fixed">
+    <parent link="base_footprint"/>
+    <child link="base_link"/>
+    <origin xyz="0.0 0.0 0.15" rpy="0 0 0"/>
+  </joint>
+    <!-- Base link -->
+    <link name="base_link">
+        <visual>
+            <origin xyz="0 0 -0.15" rpy="0 0 1.57" />
+            <geometry>
+                <mesh filename="package://limo_description/meshes/limo_base.dae" scale="1 1 1"/>
+            </geometry>
+        </visual>
+        <collision>
+            <!--origin xyz="0 0 -0.15" rpy="0 0 1.57" /-->
+            <origin xyz="0 0 0" rpy="0 0 0" />
+          <geometry>
+              <box size="${base_x_size} ${base_y_size} ${base_z_size}"/>
+          </geometry>
+        </collision>
+    </link>
+
+    <link name="inertial_link">
+        <inertial>
+            <origin xyz="0.0 0.0 0.0" />
+            <mass value="${base_mass}" />
+            <inertia ixx="0.24" ixy="0" ixz="0" 
+                     iyy="0.96" iyz="0" 
+                     izz="0.96" />
+        </inertial>
+    </link>
+
+    <joint name="inertial_joint" type="fixed">
+        <origin xyz="0 0 0" rpy="0 0 0" />
+        <parent link="base_link" />
+        <child link="inertial_link" />
+    </joint>
+
+    <xacro:limo_laser parent_prefix="base_link" frame_prefix="laser">
+        <origin xyz="0.103 0 -0.034" rpy="0 0 0"/>
+    </xacro:limo_laser>
+
+    <xacro:limo_depth_camera parent_prefix="base_link" frame_prefix="depth_camera">
+        <origin xyz="0.084 0 0.03" rpy="0 0 0"/>
+    </xacro:limo_depth_camera>
+    
+    <xacro:limo_imu parent_prefix="base_link" frame_prefix="imu">
+        <origin xyz="0.0 0 -0.1" rpy="0 0 0"/>
+    </xacro:limo_imu>
+
+    <xacro:limo_wheel parent_prefix="base_link" wheel_prefix="front_left" reflect="1">
+        <origin xyz="${wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0  0" />
+    </xacro:limo_wheel>
+
+    <xacro:limo_wheel parent_prefix="base_link" wheel_prefix="front_right" reflect="-1">
+        <origin xyz="${wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="${M_PI} 0 0" />
+    </xacro:limo_wheel>
+
+    <xacro:limo_wheel parent_prefix="base_link" wheel_prefix="rear_left" reflect="1">
+        <origin xyz="${-wheelbase/2} ${track/2} ${wheel_vertical_offset}" rpy="0 0 0" />
+    </xacro:limo_wheel>
+
+    <xacro:limo_wheel parent_prefix="base_link" wheel_prefix="rear_right" reflect="-1">
+        <origin xyz="${-wheelbase/2} ${-track/2} ${wheel_vertical_offset}" rpy="${M_PI} 0 0" />
+    </xacro:limo_wheel>
+</robot>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_description/urdf/limo_gazebo.gazebo

@@ -0,0 +1,138 @@
+<?xml version="1.0"?>
+
+<robot name="limo_gazebo" xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <xacro:macro name="limo_wheel_transmission" params="wheel_prefix">
+        <transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
+            <type>transmission_interface/SimpleTransmission</type>
+            <actuator name="${wheel_prefix}_wheel_motor">
+                <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+                <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+            <joint name="${wheel_prefix}_wheel">
+                <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
+            </joint>
+        </transmission>
+    </xacro:macro>
+
+    <xacro:macro name="limo_steering_hinge_transmission" params="wheel_prefix">
+        <transmission name="${wheel_prefix}_wheel_trans" type="SimpleTransmission">
+            <type>transmission_interface/SimpleTransmission</type>
+            <actuator name="${wheel_prefix}_wheel_motor">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+                <mechanicalReduction>1</mechanicalReduction>
+            </actuator>
+            <joint name="${wheel_prefix}_wheel">
+                <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
+            </joint>
+        </transmission>
+    </xacro:macro>
+
+    <xacro:macro name="gazebo_laser" params="frame_prefix">
+        <gazebo reference="${frame_prefix}_link">
+            <sensor type="ray" name="laser_sensor">
+              <pose>0 0 0 0 0 0</pose>
+              <visualize>false</visualize>
+              <update_rate>8</update_rate>
+              <ray>
+                <scan>
+                  <horizontal>
+                    <samples>720</samples>
+                    <resolution>1</resolution>
+                    <min_angle>-2.09439504</min_angle>
+                    <max_angle>2.09439504</max_angle>
+                  </horizontal>
+                </scan>
+                <range>
+                  <min>0.05</min>
+                  <max>8.0</max>
+                  <resolution>0.01</resolution>
+                </range>
+                <noise>
+                  <type>gaussian</type>
+                  <mean>0.0</mean>
+                  <stddev>0.01</stddev>
+                </noise>
+              </ray>
+              <plugin name="gazebo_ros_laser_sensor" filename="libgazebo_ros_laser.so">
+                <topicName>/limo/scan</topicName>
+                <frameName>laser_link</frameName>
+              </plugin>
+            </sensor>
+          </gazebo>
+    </xacro:macro>
+
+    <xacro:macro name="gazebo_depth_camera" params="frame_prefix">
+        <gazebo reference="${frame_prefix}_link">
+          <sensor name="sensor_camera" type="depth">
+            <pose>0.0 0.0 0.0 0.0 0.0 0.0</pose>
+            <always_on>true</always_on>
+            <visualize>true</visualize>
+            <update_rate>10.0</update_rate>
+            <camera name="head">
+              <horizontal_fov>1.3962634</horizontal_fov>
+              <image>
+                  <width>640</width>
+                  <height>480</height>
+                  <format>R8G8B8</format>
+              </image>
+              <clip>
+                  <near>0.02</near>
+                  <far>300</far>
+              </clip>
+            </camera>
+
+            <plugin name="gazebo_ros_depth_camera_sensor" filename="libgazebo_ros_openni_kinect.so">
+              <baseline>0.2</baseline>
+              <alwaysOn>true</alwaysOn>
+              <!-- Keep this zero, update_rate in the parent <sensor> tag
+                will control the frame rate. -->
+              <updateRate>0.0</updateRate>
+              <cameraName>camera_ir</cameraName>
+              <imageTopicName>/limo/color/image_raw</imageTopicName>
+              <cameraInfoTopicName>/limo/color/camera_info</cameraInfoTopicName>
+              <depthImageTopicName>/limo/depth/image_raw</depthImageTopicName>
+              <depthImageCameraInfoTopicName>/limo/depth/camera_info</depthImageCameraInfoTopicName>
+              <pointCloudTopicName>/limo/depth/points</pointCloudTopicName>
+              <frameName>depth_link</frameName>
+              <cameraname>depth_camera_link</cameraname>
+              
+              <pointCloudCutoff>0.5</pointCloudCutoff>
+              <pointCloudCutoffMax>3.0</pointCloudCutoffMax>
+              <distortionK1>0</distortionK1>
+              <distortionK2>0</distortionK2>
+              <distortionK3>0</distortionK3>
+              <distortionT1>0</distortionT1>
+              <distortionT2>0</distortionT2>
+              <CxPrime>0</CxPrime>
+              <Cx>0</Cx>
+              <Cy>0</Cy>
+              <focalLength>0</focalLength>
+              <hackBaseline>0</hackBaseline>
+            </plugin>
+        </sensor>
+          </gazebo>
+    </xacro:macro>
+
+    <xacro:macro name="gazebo_imu" params="frame_prefix">
+      <gazebo reference="${frame_prefix}_link">
+        <gravity>true</gravity>
+        <sensor name="imu_sensor" type="imu">
+          <always_on>true</always_on>
+          <update_rate>100</update_rate>
+          <visualize>true</visualize>
+          <topic>__default_topic__</topic>
+          <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
+            <topicName>/limo/imu</topicName>
+            <bodyName>${frame_prefix}_link</bodyName>
+            <updateRateHZ>100.0</updateRateHZ>
+            <gaussianNoise>0.001</gaussianNoise>
+            <xyzOffset>0 0 0</xyzOffset>
+            <rpyOffset>0 0 0</rpyOffset>
+            <frameName>imu_link</frameName>
+          </plugin>
+          <pose>0 0 0 0 0 0</pose>
+        </sensor>
+      </gazebo>
+  </xacro:macro>
+</robot>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_description/urdf/limo_mycobot.xacro

@@ -0,0 +1,17 @@
+<robot name="limo_mycobot" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:include filename="$(find mycobot_description)/urdf/mycobot/mycobot_urdf.urdf" />
+    <xacro:include filename="$(find limo_description)/urdf/limo_four_diff.xacro" />
+
+    <joint
+      name="limo_mycobot"
+      type="fixed">
+      <origin
+        xyz="0.0 0.0 0.0"
+        rpy="0 0 0" />
+      <parent
+        link="base_link" />
+      <child
+        link="joint1" />
+    </joint>
+
+</robot>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_description/urdf/limo_steering_hinge.xacro

@@ -0,0 +1,123 @@
+<?xml version="1.0"?>
+<robot name="limo_steering_hinge" xmlns:xacro="http://ros.org/wiki/xacro">
+
+    <xacro:macro name="limo_left_steering_hinge" params="parent_prefix wheel_prefix *joint_pose">
+        <link name="${wheel_prefix}">
+            <inertial>
+              <mass value="0.25" />
+              <inertia ixx="0.00525" ixy="0" ixz="0" iyy="0.00035" iyz="0" izz="0.00525" />
+              <origin xyz="0 0 0" />
+
+            </inertial>
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                  <cylinder length="0.0001" radius="0.0001" />
+                </geometry>
+            </visual>
+            <collision>
+              <origin xyz="0 ${wheel_length/2} 0" rpy="1.57 0 0" />
+              <geometry>
+                  <cylinder length="${wheel_length}" radius="${wheel_radius-0.01}" />
+              </geometry>
+            </collision>
+        </link>
+
+        <joint name="${wheel_prefix}_wheel" type="revolute">
+            <parent link="${parent_prefix}"/>
+            <child link="${wheel_prefix}"/>
+            <xacro:insert_block name="joint_pose"/>
+            <axis xyz="0 0 1" />
+            <limit lower="-0.523598767" upper="0.523598767" effort="5" velocity="0.5" />
+            <dynamics damping="1.0" friction="2.0"/>
+
+        </joint>
+
+        <link name="front_left_wheel_link">
+          <inertial>
+            <mass value="0.25" />
+            <inertia ixx="0.00525" ixy="0" ixz="0" iyy="0.00035" iyz="0" izz="0.00525" />
+            <origin xyz="0 0 0" />
+
+          </inertial>
+          <visual>
+              <origin xyz="0 0 0" rpy="0 0 0" />
+              <geometry>
+                  <mesh filename="package://limo_description/meshes/limo_wheel.dae" />
+              </geometry>
+          </visual>
+          <collision>
+            <origin xyz="0 ${wheel_length/2} 0" rpy="1.57 0 0" />
+            <geometry>
+                <cylinder length="${wheel_length}" radius="${wheel_radius}" />
+            </geometry>
+          </collision>
+      </link>
+
+      <joint name="front_left_wheel" type="continuous">
+          <parent link="${wheel_prefix}"/>
+          <child link="front_left_wheel_link"/>
+          <origin xyz="0 0 0" rpy="0 0  0" />
+          <axis xyz="0 1 0"/>
+      </joint>
+    </xacro:macro>
+
+    <xacro:macro name="limo_right_steering_hinge" params="parent_prefix wheel_prefix *joint_pose">
+        <link name="${wheel_prefix}">
+          <inertial>
+            <mass value="0.25" />
+            <inertia ixx="0.00525" ixy="0" ixz="0" iyy="0.00035" iyz="0" izz="0.00525" />
+            <origin xyz="0 0 0" />
+
+          </inertial>
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                  <cylinder length="0.0001" radius="0.0001" />
+                </geometry>
+            </visual>
+            <collision>
+              <origin xyz="0 ${wheel_length/2} 0" rpy="1.57 0 0" />
+              <geometry>
+                  <cylinder length="${wheel_length}" radius="${wheel_radius-0.01}" />
+              </geometry>
+            </collision>
+        </link>
+
+        <joint name="${wheel_prefix}_wheel" type="revolute">
+            <parent link="${parent_prefix}"/>
+            <child link="${wheel_prefix}"/>
+            <xacro:insert_block name="joint_pose"/>
+            <axis xyz="0 0 -1"/>
+            <limit lower="-0.523598767" upper="0.523598767" effort="5" velocity="0.5" />
+            <dynamics damping="1.0" friction="2.0"/>
+        </joint>
+
+        <link name="front_right_wheel_link">
+          <inertial>
+            <mass value="0.25" />
+            <inertia ixx="0.00525" ixy="0" ixz="0" iyy="0.00035" iyz="0" izz="0.00525" />
+            <origin xyz="0 0 0" />
+          </inertial>
+          <visual>
+              <origin xyz="0 0 0" rpy="0 0 0" />
+              <geometry>
+                  <mesh filename="package://limo_description/meshes/limo_wheel.dae" />
+              </geometry>
+          </visual>
+          <collision>
+            <origin xyz="0 ${wheel_length/2} 0" rpy="1.57 0 0" />
+            <geometry>
+                <cylinder length="${wheel_length}" radius="${wheel_radius}" />
+            </geometry>
+          </collision>
+      </link>
+
+      <joint name="front_right_wheel" type="continuous">
+          <parent link="${wheel_prefix}"/>
+          <child link="front_right_wheel_link"/>
+          <origin xyz="0 0 0" rpy="0 0  0" />
+          <axis xyz="0 -1 0"/>
+      </joint>
+    </xacro:macro>
+</robot>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_description/urdf/limo_xacro.xacro

@@ -0,0 +1,164 @@
+<?xml version="1.0"?>
+<robot name="limo_xacro" xmlns:xacro="http://ros.org/wiki/xacro">
+    <xacro:macro name="limo_wheel" params="parent_prefix wheel_prefix reflect *joint_pose">
+        <link name="${wheel_prefix}_wheel_link">
+            <inertial>
+                <origin xyz="0 0 0" />
+                <mass value="0.5" />
+                <inertia ixx="0.01055" ixy="0" ixz="0" iyy="0.00075" iyz="0" izz="0.01055" />
+            </inertial>
+            <visual>
+                <origin xyz="0 0 0" rpy="0 0 0" />
+                <geometry>
+                    <mesh filename="package://limo_description/meshes/limo_wheel.dae" />
+                </geometry>
+            </visual>
+            <collision>
+              <origin xyz="0 ${wheel_length/2} 0" rpy="1.57 0 0" />
+              <geometry>
+                  <cylinder length="${wheel_length}" radius="${wheel_radius}" />
+              </geometry>
+            </collision>
+        </link>
+
+        <joint name="${wheel_prefix}_wheel" type="continuous">
+            <parent link="${parent_prefix}"/>
+            <child link="${wheel_prefix}_wheel_link"/>
+            <xacro:insert_block name="joint_pose"/>
+            <axis xyz="0 ${reflect*1} 0"/>
+        </joint>
+    </xacro:macro>
+
+
+    <xacro:macro name="limo_laser" params="parent_prefix frame_prefix *joint_pose">
+        <link name='${frame_prefix}_link'>
+            <pose>0 0 0 0 0 0</pose>
+            <inertial>
+                <mass value="0.1"/>
+                <origin xyz="0.0 0 0" rpy="0 0 0"/>
+                <inertia
+                    ixx="1e-6" ixy="0" ixz="0"
+                    iyy="1e-6" iyz="0"
+                    izz="1e-6"
+                />
+            </inertial>
+            <visual name='laser_visual'>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <cylinder radius="0.02" length="0.01"/>
+                </geometry>
+                <material name='laser_material'>
+                    <ambient>0.1 0.1 0.1 1</ambient>
+                    <diffuse>0.1 0.1 0.2 1</diffuse>
+                    <specular>0 0 0 0</specular>
+                    <emissive>0 0 0 1</emissive>
+                </material>
+            </visual>
+            <collision name='laser_collision'>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <cylinder radius="0.032" length="0.016"/>
+                </geometry>
+            </collision>
+        </link>
+        <joint type="fixed" name="laser_joint">
+            <xacro:insert_block name="joint_pose"/>
+            <child link="${frame_prefix}_link"/>
+            <parent link="${parent_prefix}"/>
+        </joint>
+        <gazebo reference="${frame_prefix}_link">
+            <material>Gazebo/Yellow</material>
+        </gazebo>
+    </xacro:macro>
+
+    <xacro:macro name="limo_depth_camera" params="parent_prefix frame_prefix *joint_pose">
+        <link name='${frame_prefix}_link'>
+            <pose>0 0 0 0 0 0</pose>
+            <inertial>
+                <mass value="0.1"/>
+                <origin xyz="0.0 0 0" rpy="0 0 0"/>
+                <inertia
+                    ixx="1e-6" ixy="0" ixz="0"
+                    iyy="1e-6" iyz="0"
+                    izz="1e-6"
+                />
+            </inertial>
+            <visual name='depth_camera_visual'>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <box size="0.02 0.06 0.015"/>
+                </geometry>
+                <material name='depth_camera_material'>
+                    <ambient>0.1 0.1 0.1 1</ambient>
+                    <diffuse>0.1 0.1 0.2 1</diffuse>
+                    <specular>0 0 0 0</specular>
+                    <emissive>0 0 0 1</emissive>
+                </material>
+            </visual>
+            <collision name='depth_camera_collision'>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <box size="0.02 0.06 0.015"/>
+                </geometry>
+            </collision>
+        </link>
+    
+        <joint type="fixed" name="depth_camera_joint">
+            <xacro:insert_block name="joint_pose"/>
+            <child link="${frame_prefix}_link"/>
+            <parent link="${parent_prefix}"/>
+        </joint>
+        <link name="depth_link"></link>
+
+        <joint name="${frame_prefix}_to_camera_joint" type="fixed">
+            <origin xyz="0 0 0" rpy="${-M_PI/2} 0 ${-M_PI/2} "/>
+            <parent link="${frame_prefix}_link"/>
+            <child link="depth_link"/>
+          </joint>
+
+        <gazebo reference="${frame_prefix}_link">
+            <material>Gazebo/Yellow</material>
+        </gazebo>
+    </xacro:macro>
+
+    <xacro:macro name="limo_imu" params="parent_prefix frame_prefix  *joint_pose">
+        <link name='${frame_prefix}_link'>
+            <pose>0 0 0 0 0 0</pose>
+            <inertial>
+                <mass value="0.01"/>
+                <origin xyz="0.0 0 0" rpy="0 0 0"/>
+                <inertia
+                    ixx="1e-7" ixy="0" ixz="0"
+                    iyy="1e-7" iyz="0"
+                    izz="1e-7"
+                />
+            </inertial>
+            <visual name='imu_visual'>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <box size="0.001 0.001 0.001"/>
+                </geometry>
+                <material name='imu_material'>
+                    <ambient>0.1 0.1 0.1 1</ambient>
+                    <diffuse>0.1 0.1 0.2 1</diffuse>
+                    <specular>0 0 0 0</specular>
+                    <emissive>0 0 0 1</emissive>
+                </material>
+            </visual>
+            <collision name='imu_collision'>
+                <origin xyz="0 0 0" rpy="0 0 0"/>
+                <geometry>
+                    <box size="0.001 0.001 0.001"/>
+                </geometry>
+            </collision>
+        </link>
+        <joint type="fixed" name="imu_joint">
+            <xacro:insert_block name="joint_pose"/>
+            <child link="${frame_prefix}_link"/>
+            <parent link="${parent_prefix}"/>
+        </joint>
+        <gazebo reference="${frame_prefix}_link">
+            <material>Gazebo/Yellow</material>
+        </gazebo>
+    </xacro:macro>
+</robot>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_gazebo_sim/CMakeLists.txt

@@ -0,0 +1,37 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(limo_gazebo_sim)
+
+add_compile_options(-std=c++11)
+
+find_package(catkin REQUIRED COMPONENTS    
+  roslaunch
+  roslint
+  roscpp
+  std_msgs
+  sensor_msgs
+  geometry_msgs
+  tf2
+  tf2_ros
+  gazebo_dev
+  gazebo_msgs
+)
+catkin_package(
+  INCLUDE_DIRS include
+  LIBRARIES  gazebo_ros_ackerman
+  CATKIN_DEPENDS roscpp sensor_msgs
+)
+
+include_directories(
+  include
+  ${catkin_INCLUDE_DIRS}
+)
+
+# add_library(gazebo_ros_ackerman src/gazebo_ros_ackerman_drive.cpp)
+# target_link_libraries(gazebo_ros_ackerman ${catkin_LIBRARIES} ${Boost_LIBRARIES})
+
+# install(TARGETS gazebo_ros_ackerman
+# ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+# RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_gazebo_sim/config/limo_ackerman_control.yaml

@@ -0,0 +1,27 @@
+# Publish all joint states -----------------------------------
+limo_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 100
+
+# Joint velocity controllers ---------------------------------
+/gazebo_ros_control/pid_gains:
+    front_left_wheel: {p: 1.0, i: 0, d: 0.01} 
+    front_right_wheel: {p: 1.0, i: 0, d: 0.01} 
+    rear_left_wheel: {p: 1.0, i: 0, d: 0.01} 
+    rear_right_wheel: {p: 1.0, i: 0, d: 0.01} 
+
+# Position Controllers ---------------------------------------
+limo_fl_steering_hinge_controller:
+  type: effort_controllers/JointPositionController
+  joint: left_steering_hinge_wheel
+  pid: 
+    p: 100.0
+    i: 0.1
+    d: 0.1
+limo_fr_steering_hinge_controller:
+  type: effort_controllers/JointPositionController
+  joint: right_steering_hinge_wheel
+  pid: 
+    p: 100.0
+    i: 0.1
+    d: 0.1

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_gazebo_sim/config/limo_four_diff_control.yaml

@@ -0,0 +1,9 @@
+# Publish all joint states -----------------------------------
+limo_state_controller:
+  type: joint_state_controller/JointStateController
+  publish_rate: 100
+/gazebo_ros_control/pid_gains:
+    front_left_wheel: {p: 1.0, i: 0, d: 0.01} 
+    front_right_wheel: {p: 1.0, i: 0, d: 0.01} 
+    rear_left_wheel: {p: 1.0, i: 0, d: 0.01} 
+    rear_right_wheel: {p: 1.0, i: 0, d: 0.01} 

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_gazebo_sim/include/limo_gazebo/gazebo_ros_ackerman_drive.h

@@ -0,0 +1,108 @@
+#ifndef GAZEBO_ROS_ACKERMAN_DRIVE_H_
+#define GAZEBO_ROS_ACKERMAN_DRIVE_H_
+
+#include <map>
+
+#include <gazebo/common/common.hh>
+#include <gazebo/physics/physics.hh>
+
+// ROS
+#include <ros/ros.h>
+#include <tf/transform_broadcaster.h>
+#include <tf/transform_listener.h>
+#include <geometry_msgs/Twist.h>
+#include <nav_msgs/Odometry.h>
+#include <nav_msgs/OccupancyGrid.h>
+#include <std_msgs/Float64.h>
+
+// Custom Callback Queue
+#include <ros/callback_queue.h>
+#include <ros/advertise_options.h>
+
+// Boost
+#include <boost/thread.hpp>
+#include <boost/bind.hpp>
+
+namespace gazebo {
+
+class Joint;
+class Entity;
+
+class GazeboRosAckermanDrive : public ModelPlugin {
+public:
+    GazeboRosAckermanDrive();
+    ~GazeboRosAckermanDrive();
+    void Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf);
+
+protected:
+    virtual void UpdateChild();
+    virtual void FiniChild();
+
+private:
+    void PublishOdometry(double step_time);
+    void GetWheelVelocities();
+    void ConvertCentralAngleToLeftRight(double angle,double r, double& left_angle, double& right_angle);
+    void QueueThread();
+    void CmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg);
+
+    physics::WorldPtr world;
+    physics::ModelPtr parent;
+    event::ConnectionPtr update_connection_;
+    std_msgs::Float64 last_motor_cmd[2];
+    std::string left_front_joint_name_;
+    std::string right_front_joint_name_;
+    std::string left_rear_joint_name_;
+    std::string right_rear_joint_name_;
+    std::string left_hinge_joint_name_;
+    std::string right_hinge_joint_name_;
+    double wheel_separation_;
+    double wheel_diameter_;
+    double torque;
+    double wheel_speed_[4];
+
+    physics::JointPtr joints[4];
+
+    // ROS STUFF
+    ros::NodeHandle* rosnode_;
+    ros::Publisher odometry_publisher_;
+    ros::Subscriber cmd_vel_subscriber_;
+    ros::Publisher motor_steer_fr_pub_;
+    ros::Publisher motor_steer_fl_pub_;
+    tf::TransformBroadcaster *transform_broadcaster_;
+    nav_msgs::Odometry odom_;
+    std::string tf_prefix_;
+    bool broadcast_tf_;
+
+    boost::mutex lock;
+
+    std::string robot_namespace_;
+    std::string command_topic_;
+    std::string odometry_topic_;
+    std::string odometry_frame_;
+    std::string robot_base_frame_;
+
+    static constexpr double max_steer_angle_central = 0.523598767; // ~= 30
+    static constexpr double track_ = 0.172;   // m (left right wheel distance)
+    static constexpr double wheelbase_ = 0.2; // m (front rear wheel distance)
+
+    // Custom Callback Queue
+    ros::CallbackQueue queue_;
+    boost::thread callback_queue_thread_;
+
+    double x_;
+    double rot_;
+    bool alive_;
+
+    // Update Rate
+    double update_rate_;
+    double update_period_;
+    common::Time last_update_time_;
+
+    double covariance_x_;
+    double covariance_y_;
+    double covariance_yaw_;
+};
+
+}
+
+#endif /* GAZEBO_ROS_ACKERMAN_DRIVE_H_ */

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_gazebo_sim/launch/limo_ackerman.launch

@@ -0,0 +1,44 @@
+<?xml version="1.0"?>
+<launch>
+
+    <arg name="robot_namespace" default="/"/>
+    <arg name="world_name" default="$(find limo_gazebo_sim)/worlds/empty.world"/>
+
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="world_name" value="$(arg world_name)"/>
+        <arg name="paused" value="false"/>
+        <arg name="use_sim_time" value="true"/>
+        <arg name="gui" value="true"/>
+        <arg name="headless" value="false"/>
+        <arg name="debug" value="false"/>
+    </include>
+    
+    <param name="robot_description" command="$(find xacro)/xacro '$(find limo_description)/urdf/limo_ackerman.xacro'
+        robot_namespace:=$(arg robot_namespace)" />
+
+    <!-- initial pose -->
+    <arg name="x" default="0.0"/>
+    <arg name="y" default="0.0"/>
+    <arg name="z" default="0.0"/>
+    <arg name="yaw" default="0.0"/>
+
+    <node name="spawn_limo_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x)
+              -y $(arg y)
+              -z $(arg z)
+              -Y $(arg yaw)
+              -unpause
+              -urdf
+              -param robot_description
+              -model 'limo$(arg robot_namespace)'" />
+
+    <!-- Load joint controller configurations from YAML file to parameter server -->
+    <rosparam file="$(find limo_gazebo_sim)/config/limo_ackerman_control.yaml" command="load"/>
+
+    <!-- load the controllers -->
+    <node name="controller_spawner" pkg="controller_manager" type="spawner" 
+          respawn="false" output="screen" args="limo_state_controller  
+                                limo_fl_steering_hinge_controller limo_fr_steering_hinge_controller"/>
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find limo_description)/rviz/model_display.rviz" />
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_gazebo_sim/launch/limo_four_diff.launch

@@ -0,0 +1,42 @@
+<?xml version="1.0"?>
+<launch>
+    <arg name="robot_namespace" default="/"/>
+    <arg name="world_name" default="$(find limo_gazebo_sim)/worlds/empty.world"/>
+
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="world_name" value="$(arg world_name)"/>
+        <arg name="paused" value="false"/>
+        <arg name="use_sim_time" value="true"/>
+        <arg name="gui" value="true"/>
+        <arg name="headless" value="false"/>
+        <arg name="debug" value="false"/>
+    </include>
+
+    <param name="robot_description" command="$(find xacro)/xacro '$(find limo_description)/urdf/limo_four_diff.xacro'
+        robot_namespace:=$(arg robot_namespace)" />
+
+    <!-- initial pose -->
+    <arg name="x" default="0.0"/>
+    <arg name="y" default="0.0"/>
+    <arg name="z" default="0.0"/>
+    <arg name="yaw" default="0.0"/>
+    <node name="spawn_limo_model" pkg="gazebo_ros" type="spawn_model" args="-x $(arg x)
+              -y $(arg y)
+              -z $(arg z)
+              -Y $(arg yaw)
+              -unpause
+              -urdf
+              -param robot_description
+              -model 'limo$(arg robot_namespace)'" />
+
+    <!-- Load joint controller configurations from YAML file to parameter server -->
+    <rosparam file="$(find limo_gazebo_sim)/config/limo_four_diff_control.yaml" command="load"/>
+
+    <!-- load the controllers -->
+    <node name="controller_spawner" pkg="controller_manager" type="spawner"
+          respawn="false" output="screen" args="limo_state_controller "/>
+
+    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
+        
+    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find limo_description)/rviz/model_display.rviz" />
+</launch>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_gazebo_sim/package.xml

@@ -0,0 +1,24 @@
+<?xml version="1.0"?>
+<package>
+  <name>limo_gazebo_sim</name>
+  <version>0.0.1</version>
+  <description>The limo_gazebo_sim package</description>
+
+  <maintainer email="pengju.du@agilex.ai">agilex</maintainer>
+  <license>BSD 3-Clause</license>
+
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>roslaunch</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>sensor_msgs</build_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>sensor_msgs</run_depend>
+  <run_depend>controller_manager</run_depend>
+  <run_depend>gazebo_plugins</run_depend>
+  <run_depend>gazebo_ros</run_depend>
+  <run_depend>gazebo_ros_control</run_depend>
+  <run_depend>gazebo_dev</run_depend>
+  <run_depend>gazebo_msgs</run_depend>    
+  <run_depend>limo_description</run_depend>
+  <run_depend>rostopic</run_depend>
+</package>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_gazebo_sim/src/gazebo_ros_ackerman_drive.cpp

@@ -0,0 +1,499 @@
+#include <algorithm>
+#include <assert.h>
+
+#include <limo_gazebo/gazebo_ros_ackerman_drive.h>
+
+#include <ignition/math/Pose3.hh>
+#include <ignition/math/Vector3.hh>
+#include <sdf/sdf.hh>
+
+#include <ros/ros.h>
+#include <tf/transform_broadcaster.h>
+#include <tf/transform_listener.h>
+#include <geometry_msgs/Twist.h>
+#include <nav_msgs/GetMap.h>
+#include <nav_msgs/Odometry.h>
+#include <boost/bind.hpp>
+#include <boost/thread/mutex.hpp>
+
+namespace gazebo {
+
+enum {
+    RIGHT_FRONT=0,
+    LEFT_FRONT=1,
+    RIGHT_REAR=2,
+    LEFT_REAR=3,
+};
+
+GazeboRosAckermanDrive::GazeboRosAckermanDrive() {}
+
+// Destructor
+GazeboRosAckermanDrive::~GazeboRosAckermanDrive() {
+    delete rosnode_;
+    delete transform_broadcaster_;
+}
+
+// Load the controller
+void GazeboRosAckermanDrive::Load(physics::ModelPtr _parent, sdf::ElementPtr _sdf) {
+    this->parent = _parent;
+    this->world = _parent->GetWorld();
+
+    this->robot_namespace_ = "";
+    if (!_sdf->HasElement("robotNamespace")) {
+        ROS_INFO_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin missing <robotNamespace>, defaults to \"%s\"",
+                       this->robot_namespace_.c_str());
+    }
+    else {
+        this->robot_namespace_ = _sdf->GetElement("robotNamespace")->Get<std::string>() + "/";
+    }
+
+    this->broadcast_tf_ = false;
+    if (!_sdf->HasElement("broadcastTF")) {
+        if (!this->broadcast_tf_) {
+            ROS_INFO_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <broadcastTF>, defaults to false.",this->robot_namespace_.c_str());
+        }
+        else {
+            ROS_INFO_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <broadcastTF>, defaults to true.",this->robot_namespace_.c_str());
+        }
+    }
+    else {
+        this->broadcast_tf_ = _sdf->GetElement("broadcastTF")->Get<bool>();
+    }
+
+    this->left_front_joint_name_ = "left_front_joint";
+    if (!_sdf->HasElement("leftFrontJoint")) {
+        ROS_WARN_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <leftFrontJoint>, defaults to \"%s\"",
+                       this->robot_namespace_.c_str(), this->left_front_joint_name_.c_str());
+    }
+    else {
+        this->left_front_joint_name_ = _sdf->GetElement("leftFrontJoint")->Get<std::string>();
+    }
+
+    this->right_front_joint_name_ = "right_front_joint";
+    if (!_sdf->HasElement("rightFrontJoint")) {
+        ROS_WARN_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <rightFrontJoint>, defaults to \"%s\"",
+                       this->robot_namespace_.c_str(), this->right_front_joint_name_.c_str());
+    }
+    else {
+        this->right_front_joint_name_ = _sdf->GetElement("rightFrontJoint")->Get<std::string>();
+    }
+
+    this->left_rear_joint_name_ = "left_rear_joint";
+    if (!_sdf->HasElement("leftRearJoint")) {
+        ROS_WARN_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <leftRearJoint>, defaults to \"%s\"",
+                       this->robot_namespace_.c_str(), this->left_rear_joint_name_.c_str());
+    }
+    else {
+        this->left_rear_joint_name_ = _sdf->GetElement("leftRearJoint")->Get<std::string>();
+    }
+
+    this->right_rear_joint_name_ = "right_rear_joint";
+    if (!_sdf->HasElement("rightRearJoint")) {
+        ROS_WARN_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <rightRearJoint>, defaults to \"%s\"",
+                       this->robot_namespace_.c_str(), this->right_rear_joint_name_.c_str());
+    }
+    else {
+        this->right_rear_joint_name_ = _sdf->GetElement("rightRearJoint")->Get<std::string>();
+    }
+
+    this->left_hinge_joint_name_ = "left_hinge_joint";
+    if (!_sdf->HasElement("leftHingeJoint")) {
+        ROS_WARN_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <leftHingeJoint>, defaults to \"%s\"",
+                       this->robot_namespace_.c_str(), this->right_rear_joint_name_.c_str());
+    }
+    else {
+        this->left_hinge_joint_name_ = _sdf->GetElement("leftHingeJoint")->Get<std::string>();
+    }
+
+    this->right_hinge_joint_name_ = "right_hinge_joint";
+    if (!_sdf->HasElement("rightHingeJoint")) {
+        ROS_WARN_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <rightHingeJoint>, defaults to \"%s\"", this->robot_namespace_.c_str(), this->right_rear_joint_name_.c_str());
+    }
+    else {
+        this->right_hinge_joint_name_ = _sdf->GetElement("rightHingeJoint")->Get<std::string>();
+    }
+
+    this->wheel_separation_ = 0.4;
+
+    if (!_sdf->HasElement("wheelSeparation")) {
+        ROS_WARN_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <wheelSeparation>, defaults to value from robot_description: %f",
+                       this->robot_namespace_.c_str(), this->wheel_separation_);
+    }
+    else {
+        this->wheel_separation_ = _sdf->GetElement("wheelSeparation")->Get<double>();
+    }
+
+    this->wheel_diameter_ = 0.15;
+    if (!_sdf->HasElement("wheelDiameter")) {
+        ROS_WARN_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <wheelDiameter>, defaults to %f", this->robot_namespace_.c_str(), this->wheel_diameter_);
+    }
+    else {
+        this->wheel_diameter_ = _sdf->GetElement("wheelDiameter")->Get<double>();
+    }
+
+    this->torque = 5.0;
+    if (!_sdf->HasElement("torque")) {
+        ROS_WARN_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <torque>, defaults to %f",
+                       this->robot_namespace_.c_str(), this->torque);
+    }
+    else {
+        this->torque = _sdf->GetElement("torque")->Get<double>();
+    }
+
+    this->command_topic_ = "cmd_vel";
+    if (!_sdf->HasElement("commandTopic")) {
+        ROS_WARN_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <commandTopic>, defaults to \"%s\"",
+                       this->robot_namespace_.c_str(), this->command_topic_.c_str());
+    }
+    else {
+        this->command_topic_ = _sdf->GetElement("commandTopic")->Get<std::string>();
+    }
+
+    this->odometry_topic_ = "odom";
+    if (!_sdf->HasElement("odometryTopic")) {
+        ROS_WARN_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <odometryTopic>, defaults to \"%s\"",
+                       this->robot_namespace_.c_str(), this->odometry_topic_.c_str());
+    }
+    else {
+        this->odometry_topic_ = _sdf->GetElement("odometryTopic")->Get<std::string>();
+    }
+
+    this->odometry_frame_ = "odom";
+    if (!_sdf->HasElement("odometryFrame")) {
+        ROS_WARN_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <odometryFrame>, defaults to \"%s\"",
+                       this->robot_namespace_.c_str(), this->odometry_frame_.c_str());
+    }
+    else {
+        this->odometry_frame_ = _sdf->GetElement("odometryFrame")->Get<std::string>();
+    }
+
+    this->robot_base_frame_ = "base_footprint";
+    if (!_sdf->HasElement("robotBaseFrame")) {
+        ROS_WARN_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <robotBaseFrame>, defaults to \"%s\"",
+                       this->robot_namespace_.c_str(), this->robot_base_frame_.c_str());
+    }
+    else {
+        this->robot_base_frame_ = _sdf->GetElement("robotBaseFrame")->Get<std::string>();
+    }
+
+    this->update_rate_ = 100.0;
+    if (!_sdf->HasElement("updateRate")) {
+        ROS_WARN_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <updateRate>, defaults to %f",
+                       this->robot_namespace_.c_str(), this->update_rate_);
+    }
+    else {
+        this->update_rate_ = _sdf->GetElement("updateRate")->Get<double>();
+    }
+
+    this->covariance_x_ = 0.0001;
+    if (!_sdf->HasElement("covariance_x")) {
+        ROS_WARN_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <covariance_x>, defaults to %f",
+                       this->robot_namespace_.c_str(), covariance_x_);
+    }
+    else {
+        covariance_x_ = _sdf->GetElement("covariance_x")->Get<double>();
+    }
+
+    this->covariance_y_ = 0.0001;
+    if (!_sdf->HasElement("covariance_y")) {
+        ROS_WARN_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <covariance_y>, defaults to %f",
+                       this->robot_namespace_.c_str(), covariance_y_);
+    }
+    else {
+        covariance_y_ = _sdf->GetElement("covariance_y")->Get<double>();
+    }
+
+    this->covariance_yaw_ = 0.01;
+    if (!_sdf->HasElement("covariance_yaw")) {
+        ROS_WARN_NAMED("ackerman_drive", "GazeboRosAckermanDrive Plugin (ns = %s) missing <covariance_yaw>, defaults to %f",
+                       this->robot_namespace_.c_str(), covariance_yaw_);
+    }
+    else {
+        covariance_yaw_ = _sdf->GetElement("covariance_yaw")->Get<double>();
+    }
+
+    // Initialize update rate stuff
+    if (this->update_rate_ > 0.0) {
+        this->update_period_ = 1.0 / this->update_rate_;
+    }
+    else {
+        this->update_period_ = 0.0;
+    }
+
+#if GAZEBO_MAJOR_VERSION >= 8
+    last_update_time_ = this->world->SimTime();
+#else
+    last_update_time_ = this->world->GetSimTime();
+#endif
+
+    // Initialize velocity stuff
+    wheel_speed_[RIGHT_FRONT] = 0;
+    wheel_speed_[LEFT_FRONT] = 0;
+    wheel_speed_[RIGHT_REAR] = 0;
+    wheel_speed_[LEFT_REAR] = 0;
+
+    x_ = 0;
+    rot_ = 0;
+    alive_ = true;
+
+    joints[LEFT_FRONT] = this->parent->GetJoint(left_front_joint_name_);
+    joints[RIGHT_FRONT] = this->parent->GetJoint(right_front_joint_name_);
+    joints[LEFT_REAR] = this->parent->GetJoint(left_rear_joint_name_);
+    joints[RIGHT_REAR] = this->parent->GetJoint(right_rear_joint_name_);
+
+    if (!joints[LEFT_FRONT]) {
+        char error[200];
+        snprintf(error, 200, "GazeboRosAckermanDrive Plugin (ns = %s) couldn't get left front hinge joint named \"%s\"",
+                 this->robot_namespace_.c_str(), this->left_front_joint_name_.c_str());
+        gzthrow(error);
+    }
+
+    if (!joints[RIGHT_FRONT]) {
+        char error[200];
+        snprintf(error, 200, "GazeboRosAckermanDrive Plugin (ns = %s) couldn't get right front hinge joint named \"%s\"",
+                 this->robot_namespace_.c_str(), this->right_front_joint_name_.c_str());
+        gzthrow(error);
+    }
+
+    if (!joints[LEFT_REAR]) {
+       char error[200];
+       snprintf(error, 200, "GazeboRosAckermanDrive Plugin (ns = %s) couldn't get left rear hinge joint named \"%s\"",
+                this->robot_namespace_.c_str(), this->left_rear_joint_name_.c_str());
+       gzthrow(error);
+   }
+
+   if (!joints[RIGHT_REAR]) {
+       char error[200];
+       snprintf(error, 200, "GazeboRosAckermanDrive Plugin (ns = %s) couldn't get right rear hinge joint named \"%s\"",
+                this->robot_namespace_.c_str(), this->right_rear_joint_name_.c_str());
+       gzthrow(error);
+   }
+
+#if GAZEBO_MAJOR_VERSION > 2
+    joints[LEFT_FRONT]->SetParam("fmax", 0, torque);
+    joints[RIGHT_FRONT]->SetParam("fmax", 0, torque);
+    joints[LEFT_REAR]->SetParam("fmax", 0, torque);
+    joints[RIGHT_REAR]->SetParam("fmax", 0, torque);
+#else
+    joints[LEFT_FRONT]->SetMaxForce(0, torque);
+    joints[RIGHT_FRONT]->SetMaxForce(0, torque);
+    joints[LEFT_REAR]->SetMaxForce(0, torque);
+    joints[RIGHT_REAR]->SetMaxForce(0, torque);
+#endif
+
+    // Make sure the ROS node for Gazebo has already been initialized
+    if (!ros::isInitialized()) {
+        ROS_FATAL_STREAM_NAMED("ackerman_drive", "A ROS node for Gazebo has not been initialized, unable to load plugin. "
+                               << "Load the Gazebo system plugin 'libgazebo_ros_api_plugin.so' in the gazebo_ros package)");
+        return;
+    }
+
+    rosnode_ = new ros::NodeHandle(this->robot_namespace_);
+
+    ROS_INFO_NAMED("ackerman_drive", "Starting GazeboRosAckermanDrive Plugin (ns = %s)", this->robot_namespace_.c_str());
+
+    tf_prefix_ = tf::getPrefixParam(*rosnode_);
+    transform_broadcaster_ = new tf::TransformBroadcaster();
+
+    // ROS: Subscribe to the velocity command topic (usually "cmd_vel")
+    ros::SubscribeOptions so = ros::SubscribeOptions::create<geometry_msgs::Twist>(command_topic_, 1,
+        boost::bind(&GazeboRosAckermanDrive::CmdVelCallback, this, _1), ros::VoidPtr(), &queue_);
+
+    cmd_vel_subscriber_ = rosnode_->subscribe(so);
+    std::string motor_steer_fr_topic_ = robot_namespace_ + "/limo_fr_steering_hinge_controller/command";
+    std::string motor_steer_fl_topic_ = robot_namespace_ + "/limo_fl_steering_hinge_controller/command";
+    motor_steer_fr_pub_ = rosnode_->advertise<std_msgs::Float64>(motor_steer_fr_topic_, 50);
+    motor_steer_fl_pub_ = rosnode_->advertise<std_msgs::Float64>(motor_steer_fl_topic_, 50);
+    odometry_publisher_ = rosnode_->advertise<nav_msgs::Odometry>(odometry_topic_, 1);
+    last_motor_cmd[0].data=0;
+    last_motor_cmd[1].data=0;
+    // start custom queue for diff drive
+    this->callback_queue_thread_ = boost::thread(boost::bind(&GazeboRosAckermanDrive::QueueThread, this));
+
+    // listen to the update event (broadcast every simulation iteration)
+    this->update_connection_ = event::Events::ConnectWorldUpdateBegin(
+          boost::bind(&GazeboRosAckermanDrive::UpdateChild, this));
+}
+
+// Update the controller
+void GazeboRosAckermanDrive::UpdateChild() {
+#if GAZEBO_MAJOR_VERSION >= 8
+    common::Time current_time = this->world->SimTime();
+#else
+    common::Time current_time = this->world->GetSimTime();
+#endif
+    double seconds_since_last_update = (current_time - last_update_time_).Double();
+    if (seconds_since_last_update > update_period_) {
+        PublishOdometry(seconds_since_last_update);
+
+        // Update robot in case new velocities have been requested
+        GetWheelVelocities();
+#if GAZEBO_MAJOR_VERSION > 2
+        joints[LEFT_FRONT]->SetParam("vel", 0, wheel_speed_[LEFT_FRONT] / (wheel_diameter_ / 2.0));
+        joints[RIGHT_FRONT]->SetParam("vel", 0, wheel_speed_[RIGHT_FRONT] / (wheel_diameter_ / 2.0));
+        joints[LEFT_REAR]->SetParam("vel", 0, wheel_speed_[LEFT_REAR] / (wheel_diameter_ / 2.0));
+        joints[RIGHT_REAR]->SetParam("vel", 0, wheel_speed_[RIGHT_REAR] / (wheel_diameter_ / 2.0));
+#else
+        joints[LEFT_FRONT]->SetVelocity(0, wheel_speed_[LEFT_FRONT] / (wheel_diameter_ / 2.0));
+        joints[RIGHT_FRONT]->SetVelocity(0, wheel_speed_[RIGHT_FRONT] / (wheel_diameter_ / 2.0));
+        joints[LEFT_REAR]->SetVelocity(0, wheel_speed_[LEFT_REAR] / (wheel_diameter_ / 2.0));
+        joints[RIGHT_REAR]->SetVelocity(0, wheel_speed_[RIGHT_REAR] / (wheel_diameter_ / 2.0));
+#endif
+        last_update_time_+= common::Time(update_period_);
+    }
+}
+
+// Finalize the controller
+void GazeboRosAckermanDrive::FiniChild() {
+    alive_ = false;
+    queue_.clear();
+    queue_.disable();
+    rosnode_->shutdown();
+    callback_queue_thread_.join();
+}
+
+void GazeboRosAckermanDrive::GetWheelVelocities() {
+    boost::mutex::scoped_lock scoped_lock(lock);
+    double vr = x_;
+    double va = rot_;
+    double steer_cmd;
+    double left_side_velocity  = vr;
+    double right_side_velocity = vr;
+    double r;
+    int sig = 1;
+
+    r = fabs(vr / va);
+    steer_cmd = std::atan(wheelbase_ / r);
+    steer_cmd = va < 0 ? -1 * steer_cmd : steer_cmd;
+    if (steer_cmd > max_steer_angle_central) {
+        steer_cmd = max_steer_angle_central;
+    }
+    if (steer_cmd < -max_steer_angle_central) {
+        steer_cmd = -max_steer_angle_central;
+    }
+    sig = steer_cmd < 0 ? -1 : 1;
+    ConvertCentralAngleToLeftRight(steer_cmd, r,last_motor_cmd[1].data, last_motor_cmd[0].data);
+    if (fabs(steer_cmd) > 0){
+        left_side_velocity = vr - sig * vr / r * track_ * 0.2;
+        right_side_velocity = vr + sig * vr / r * track_ * 0.2;
+    }
+    if(vr != 0.0) {
+        wheel_speed_[RIGHT_FRONT] = right_side_velocity / fabs(std::cos(last_motor_cmd[0].data));
+        wheel_speed_[RIGHT_REAR] = right_side_velocity;
+        wheel_speed_[LEFT_FRONT] = left_side_velocity / fabs(std::cos(last_motor_cmd[1].data));
+        wheel_speed_[LEFT_REAR] = left_side_velocity;
+    }
+    else {
+        wheel_speed_[RIGHT_FRONT] = 0;
+        wheel_speed_[RIGHT_REAR] = 0;
+        wheel_speed_[LEFT_FRONT] = 0;
+        wheel_speed_[LEFT_REAR] = 0;
+    }
+    motor_steer_fr_pub_.publish(last_motor_cmd[0]);
+    motor_steer_fl_pub_.publish(last_motor_cmd[1]);
+}
+
+void GazeboRosAckermanDrive::ConvertCentralAngleToLeftRight(double angle,double r, double&left_angle, double& right_angle) {
+    double inner = 0;
+    double outer = 0;
+    left_angle = 0.0;
+    right_angle = 0.0;
+
+    if (fabs(angle) > 0) {
+        inner = fabs(std::atan2(wheelbase_, (r - track_ * 0.5)));
+        outer = fabs(std::atan2(wheelbase_, (r + track_ * 0.5)));
+        if (angle > 0) {
+            left_angle  = inner;
+            right_angle = outer;
+        }
+        else {
+            left_angle  = -outer;
+            right_angle = -inner;
+        }
+        left_angle = left_angle > max_steer_angle_central ? max_steer_angle_central:
+                      (left_angle < -max_steer_angle_central? -max_steer_angle_central : left_angle);
+        right_angle = right_angle > max_steer_angle_central ? max_steer_angle_central:
+                      (right_angle < -max_steer_angle_central? -max_steer_angle_central : right_angle);
+    }
+}
+
+void GazeboRosAckermanDrive::CmdVelCallback(const geometry_msgs::Twist::ConstPtr& cmd_msg) {
+    boost::mutex::scoped_lock scoped_lock(lock);
+    x_ = cmd_msg->linear.x;
+    rot_ = cmd_msg->angular.z;
+}
+
+void GazeboRosAckermanDrive::QueueThread() {
+    static const double timeout = 0.01;
+
+    while (alive_ && rosnode_->ok()) {
+        queue_.callAvailable(ros::WallDuration(timeout));
+    }
+}
+
+void GazeboRosAckermanDrive::PublishOdometry(double step_time) {
+    ros::Time current_time = ros::Time::now();
+    std::string odom_frame = tf::resolve(tf_prefix_, odometry_frame_);
+    std::string base_footprint_frame = tf::resolve(tf_prefix_, robot_base_frame_);
+
+#if GAZEBO_MAJOR_VERSION >= 8
+    ignition::math::Pose3d pose = this->parent->WorldPose();
+#else
+    ignition::math::Pose3d pose = this->parent->GetWorldPose().Ign();
+#endif
+
+    tf::Quaternion qt(pose.Rot().X(), pose.Rot().Y(), pose.Rot().Z(), pose.Rot().W());
+    tf::Vector3 vt(pose.Pos().X(), pose.Pos().Y(), pose.Pos().Z());
+
+    tf::Transform base_footprint_to_odom(qt, vt);
+    if (this->broadcast_tf_) {
+        transform_broadcaster_->sendTransform(tf::StampedTransform(base_footprint_to_odom,
+                                                                   current_time, odom_frame,
+                                                                   base_footprint_frame));
+    }
+
+    // publish odom topic
+    odom_.pose.pose.position.x = pose.Pos().X();
+    odom_.pose.pose.position.y = pose.Pos().Y();
+
+    odom_.pose.pose.orientation.x = pose.Rot().X();
+    odom_.pose.pose.orientation.y = pose.Rot().Y();
+    odom_.pose.pose.orientation.z = pose.Rot().Z();
+    odom_.pose.pose.orientation.w = pose.Rot().W();
+    odom_.pose.covariance[0] = this->covariance_x_;
+    odom_.pose.covariance[7] = this->covariance_y_;
+    odom_.pose.covariance[14] = 1000000000000.0;
+    odom_.pose.covariance[21] = 1000000000000.0;
+    odom_.pose.covariance[28] = 1000000000000.0;
+    odom_.pose.covariance[35] = this->covariance_yaw_;
+
+    // get velocity in /odom frame
+    ignition::math::Vector3d linear;
+#if GAZEBO_MAJOR_VERSION >= 8
+    linear = this->parent->WorldLinearVel();
+    odom_.twist.twist.angular.z = this->parent->WorldAngularVel().Z();
+#else
+    linear = this->parent->GetWorldLinearVel().Ign();
+    odom_.twist.twist.angular.z = this->parent->GetWorldAngularVel().Ign().Z();
+#endif
+
+    // convert velocity to child_frame_id (aka base_footprint)
+    float yaw = pose.Rot().Yaw();
+    odom_.twist.twist.linear.x = cosf(yaw) * linear.X() + sinf(yaw) * linear.Y();
+    odom_.twist.twist.linear.y = cosf(yaw) * linear.Y() - sinf(yaw) * linear.X();
+    odom_.twist.covariance[0] = this->covariance_x_;
+    odom_.twist.covariance[7] = this->covariance_y_;
+    odom_.twist.covariance[14] = 1000000000000.0;
+    odom_.twist.covariance[21] = 1000000000000.0;
+    odom_.twist.covariance[28] = 1000000000000.0;
+    odom_.twist.covariance[35] = this->covariance_yaw_;
+
+    odom_.header.stamp = current_time;
+    odom_.header.frame_id = odom_frame;
+    odom_.child_frame_id = base_footprint_frame;
+
+    odometry_publisher_.publish(odom_);
+}
+
+GZ_REGISTER_MODEL_PLUGIN(GazeboRosAckermanDrive)
+}

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_gazebo_sim/worlds/empty.world

@@ -0,0 +1,20 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <world name="default">
+    <!-- A global light source -->
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <!-- A ground plane -->
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+
+    <physics type='ode'>
+      <max_step_size>0.01</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>100</real_time_update_rate>
+      <gravity>0 0 -9.8</gravity>
+    </physics>
+  </world>
+</sdf>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/limo/limo_gazebo_sim/worlds/willowgarage.world

@@ -0,0 +1,21 @@
+<?xml version="1.0" ?>
+<sdf version="1.5">
+  <world name="default">
+    <include>
+      <uri>model://ground_plane</uri>
+    </include>
+    <include>
+      <uri>model://sun</uri>
+    </include>
+    <include>
+      <uri>model://willowgarage</uri>
+    </include>
+
+    <physics type='ode'>
+      <max_step_size>0.01</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>100</real_time_update_rate>
+      <gravity>0 0 -9.8</gravity>
+    </physics>
+  </world>
+</sdf>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/mycobot_description/CMakeLists.txt

@@ -0,0 +1,202 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(mycobot_description)
+
+## Compile as C++11, supported in ROS Kinetic and newer
+# add_compile_options(-std=c++11)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED)
+
+## System dependencies are found with CMake's conventions
+# find_package(Boost REQUIRED COMPONENTS system)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend tag for "message_generation"
+##   * add a build_depend and a exec_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependency has been pulled in
+##     but can be declared for certainty nonetheless:
+##     * add a exec_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+################################################
+## Declare ROS dynamic reconfigure parameters ##
+################################################
+
+## To declare and build dynamic reconfigure parameters within this
+## package, follow these steps:
+## * In the file package.xml:
+##   * add a build_depend and a exec_depend tag for "dynamic_reconfigure"
+## * In this file (CMakeLists.txt):
+##   * add "dynamic_reconfigure" to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * uncomment the "generate_dynamic_reconfigure_options" section below
+##     and list every .cfg file to be processed
+
+## Generate dynamic reconfigure parameters in the 'cfg' folder
+# generate_dynamic_reconfigure_options(
+#   cfg/DynReconf1.cfg
+#   cfg/DynReconf2.cfg
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if your package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES mycobot_description
+#  CATKIN_DEPENDS other_catkin_pkg
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+include_directories(
+# include
+# ${catkin_INCLUDE_DIRS}
+)
+
+## Declare a C++ library
+# add_library(${PROJECT_NAME}
+#   src/${PROJECT_NAME}/mycobot_description.cpp
+# )
+
+## Add cmake target dependencies of the library
+## as an example, code may need to be generated before libraries
+## either from message generation or dynamic reconfigure
+# add_dependencies(${PROJECT_NAME} ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Declare a C++ executable
+## With catkin_make all packages are built within a single CMake context
+## The recommended prefix ensures that target names across packages don't collide
+# add_executable(${PROJECT_NAME}_node src/mycobot_description_node.cpp)
+
+## Rename C++ executable without prefix
+## The above recommended prefix causes long target names, the following renames the
+## target back to the shorter version for ease of user use
+## e.g. "rosrun someones_pkg node" instead of "rosrun someones_pkg someones_pkg_node"
+# set_target_properties(${PROJECT_NAME}_node PROPERTIES OUTPUT_NAME node PREFIX "")
+
+## Add cmake target dependencies of the executable
+## same as for the library above
+# add_dependencies(${PROJECT_NAME}_node ${${PROJECT_NAME}_EXPORTED_TARGETS} ${catkin_EXPORTED_TARGETS})
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(${PROJECT_NAME}_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# catkin_install_python(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_executables.html
+# install(TARGETS ${PROJECT_NAME}_node
+#   RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark libraries for installation
+## See http://docs.ros.org/melodic/api/catkin/html/howto/format1/building_libraries.html
+# install(TARGETS ${PROJECT_NAME}
+#   ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+#   RUNTIME DESTINATION ${CATKIN_GLOBAL_BIN_DESTINATION}
+# )
+
+## Mark cpp header files for installation
+# install(DIRECTORY include/${PROJECT_NAME}/
+#   DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+#   FILES_MATCHING PATTERN "*.h"
+#   PATTERN ".svn" EXCLUDE
+# )
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_mycobot_description.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/mycobot_description/LICENSE

@@ -0,0 +1,25 @@
+BSD 2-Clause License
+
+Copyright (c) 2020, Elephant Robotics
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+
+1. Redistributions of source code must retain the above copyright notice, this
+   list of conditions and the following disclaimer.
+
+2. Redistributions in binary form must reproduce the above copyright notice,
+   this list of conditions and the following disclaimer in the documentation
+   and/or other materials provided with the distribution.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/mycobot_description/package.xml

@@ -0,0 +1,59 @@
+<?xml version="1.0"?>
+<package format="2">
+  <name>mycobot_description</name>
+  <version>0.3.0</version>
+  <description>The mycobot_description package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag -->
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="lijun.zhang@elephantrobotics.com">zachary</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>BSD</license>
+
+
+  <!-- Url tags are optional, but multiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/mycobot_description</url> -->
+
+
+  <!-- Author tags are optional, multiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintainers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use depend as a shortcut for packages that are both build and exec dependencies -->
+  <!--   <depend>roscpp</depend> -->
+  <!--   Note that this is equivalent to the following: -->
+  <!--   <build_depend>roscpp</build_depend> -->
+  <!--   <exec_depend>roscpp</exec_depend> -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use build_export_depend for packages you need in order to build against this package: -->
+  <!--   <build_export_depend>message_generation</build_export_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use exec_depend for packages you need at runtime: -->
+  <!--   <exec_depend>message_runtime</exec_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <!-- Use doc_depend for packages you need only for building documentation: -->
+  <!--   <doc_depend>doxygen</doc_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/代码汇总/无人车部分/limo_cobot_sim-master/limo_mycobot/mycobot_description/urdf/mycobot/cobot_urdf_fix.urdf

@@ -0,0 +1,211 @@
+<?xml version="1.0"?>
+<robot  xmlns:xacro="http://www.ros.org/wiki/xacro" name="firefighter" >
+	
+<xacro:property name="width" value=".2" />
+
+
+  <link name="base_joint">
+    <visual>
+      <geometry>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+        <cylinder length="0.01" radius="0.01" />
+      </geometry>
+      <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
+    </visual>
+    <collision>
+      <geometry>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+        <cylinder length="0.01" radius="0.01" />
+        </geometry>
+        <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
+    </collision>
+  </link>
+
+
+  <link name="joint1">
+    <visual>
+      <geometry>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
+    </visual>
+    <collision>
+      <geometry>
+	     <!--- 0.0 0 -0.04  1.5708 3.14159-->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint1.dae"/>
+        </geometry>
+        <origin xyz = "0.0 0 0 " rpy = " 0 0 -1.5708"/>
+    </collision>
+  </link>
+
+  <link name="joint2">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
+    </visual>
+    <collision>
+     <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint2.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.06096 " rpy = " 0 0 -1.5708"/>
+    </collision>
+  </link>
+
+
+  <link name="joint3">
+    <visual>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint3.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 0.03256 " rpy = " 0 -1.5708 0"/>
+    </collision>
+  </link>
+
+
+  <link name="joint4">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint4.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 0.03056 " rpy = " 0 -1.5708 0"/>
+    </collision>
+  </link>
+
+
+  <link name="joint5">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
+    </visual>
+    <collision>
+       <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint5.dae"/>
+      </geometry>
+      <origin xyz = "0.0 0 -0.03356 " rpy = " -1.5708 0 0"/>
+    </collision>
+  </link>
+
+
+  <link name="joint6">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
+      </geometry>
+    <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint6.dae"/>
+      </geometry>
+    <origin xyz = "0 0.00 -0.038 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+
+  <link name="joint6_flange">
+    <visual>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
+    </visual>
+    <collision>
+      <geometry>
+       <!--- 0.0 0 -0.04 -->
+       <mesh filename="package://mycobot_description/urdf/mycobot/joint7.dae"/>
+      </geometry>
+    <origin xyz = "0.0 0 -0.012 " rpy = " 0 0 0"/>
+    </collision>
+  </link>
+
+
+
+  <joint name="base_joint" type="fixed">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="base_joint"/>
+    <child link="joint1"/>
+    <origin xyz= "0 0 0" rpy = "0 0 0"/>  
+  </joint>
+
+
+  <joint name="joint2_to_joint1" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="joint1"/>
+    <child link="joint2"/>
+    <origin xyz= "0 0 0.13156" rpy = "0 0 0"/>  
+  </joint>
+
+
+  <joint name="joint3_to_joint2" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="joint2"/>
+    <child link="joint3"/>
+    <origin xyz= "0 0  0" rpy = "0 1.5708 -1.5708"/>  
+  </joint>
+
+
+  <joint name="joint4_to_joint3" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="joint3"/>
+    <child link="joint4"/>
+    <origin xyz= "  -0.1104 0 0   " rpy = "0 0 0"/>  
+  </joint>
+
+
+
+  <joint name="joint5_to_joint4" type="revolute">
+    <axis xyz=" 0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="joint4"/>
+    <child link="joint5"/>
+    <origin xyz= "-0.096 0 0.06462" rpy = "0 0 -1.5708"/>  
+  </joint>
+
+  <joint name="joint6_to_joint5" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="joint5"/>
+    <child link="joint6"/>
+    <origin xyz= "0 -0.07318 0" rpy = "1.5708 -1.5708 0"/>  
+  </joint>
+
+  <joint name="joint6output_to_joint6" type="revolute">
+    <axis xyz="0 0 1"/>
+    <limit effort = "1000.0" lower = "-3.14" upper = "3.14159" velocity = "0"/>
+    <parent link="joint6"/>
+    <child link="joint6_flange"/>
+    <origin xyz= "0 0.0456 0" rpy = "-1.5708 0 0"/>  
+  </joint>
+
+
+
+</robot>
+