摘要
ROS(Robot Operating System)是一个开源机器人操作系统,Rviz是基于ROS环境下的三维可视化模拟工具。通过对机器人操作系统的研究,提出了两种在ROS环境下机器人模型的构建方法,详细介绍编程构建模型与外界模型导入这两种模型构建的基本方法与步奏。通过对比两种模型构建方法来探讨ROS环境下一般机器人模型的建立,对比结果表明,外界模型导入方法利用三维软件建模的优势,可以减少建模时间,提高工作效率,对ROS的应用研究有着重要的意义。
ROS （ Robot Operating System） is an open source robot operating system, Rviz is a three-dimensional visualization tool based on the ROS environment, Through the study of the robot operating system, proposed two method of building robot model in ROS environment, detailing basic method and step-out of the programming model building and external model importing. By comparing the two method of building robot model ways to explore the establishment of general robot model base on the ROS environment, the comparative results indicate that the external model import method to take advantage of three-dimensional software modeling can reduce modeling time, improve work efficiency, applied research on ROS has significant.
出处
《组合机床与自动化加工技术》
北大核心
2015年第8期51-54,共4页
Modular Machine Tool & Automatic Manufacturing Technique
基金
江苏省科技重点支撑计划(BE2013003)
关键词
机器人操作系统
模型构建
文件解析
robot operating system
model construction
file parsing
