Three-branch reconfigurable space robot visual interactive simulation method based on ROS2-Gazeboo-QT

Abstract

The invention discloses a three-branch reconfigurable space robot visual interactive simulation method based on ROS2-Gazeboo-QT, and relates to the technical field of space robot simulation modeling. Acquiring a three-dimensional model comprising the three-branch reconfigurable space robot and a space environment; generating a parameterized model file from the three-dimensional model, and importing the parameterized model file into an ROS2-Gazebo simulation environment; a ros2-control framework is configured to be in communication connection with the simulation model system, and interaction between the robot and the environment is achieved; compiling an inverse kinematics algorithm interface; designing a camera module and an identification target; establishing a dynamic model of various working states; constructing a distributed virtual environment framework; and designing a visual interaction platform. By establishing a three-branch reconfigurable space robot model and controlling a collaborative simulation task in a virtual environment, data information related to kinematics and dynamics can be read in real time, and a reference is provided for a real on-orbit task.

Description

Technical Field

[0001] The present invention relates to the technical field of space robot simulation modeling, and in particular to a three-branch reconfigurable space robot visual interactive simulation method based on ROS2-Gazebo-QT. Background Art

[0002] With the increasing number of space activities, space robots are playing an increasingly important role. On-orbit servicing missions are a crucial step in space operations. However, as these missions become more complex and diverse, astronauts often find themselves unable to perform them. Traditional single-arm robots are often insufficient to complete these complex and diverse missions. Therefore, the three-arm reconfigurable space robot has emerged.

[0003] Experiments with on-orbit space robot servicing currently primarily rely on ground-based simulations, but these are plagued by high experimental costs and the difficulty of simulating the space environment. Simulation experiments, by contrast, offer unique advantages and provide an important reference for on-orbit space robot servicing. However, the complex configuration changes before and after reconfiguration and mission planning for three-branch reconfigurable space robots make simulation implementation challenging. Therefore, developing a rational, efficient, and fully functional simulation method for three-branch reconfigurable space robots is crucial in the aerospace field. Summary of the Invention

[0004] To address the shortcomings of the background technology, the present invention provides a visual interactive simulation method for a three-branch reconfigurable space robot based on ROS2-Gazebo-QT. By establishing a three-branch reconfigurable space robot model and controlling collaborative simulation tasks in a virtual environment, it can read kinematics and dynamics related data information in real time, providing a reference for real on-orbit missions.

[0005] To achieve the above objectives, the present invention adopts the following technical solution: a three-branch reconfigurable space robot visual interactive simulation method based on ROS2-Gazebo-QT, comprising the following steps:

[0006] Step 1: Obtain a 3D model

[0007] Acquire a three-dimensional model comprising multiple configurations of a three-branch reconfigurable space robot, an aircraft platform, a target aircraft object, a tool, and a space environment, wherein the multiple configurations of the three-branch reconfigurable space robot include at least a 7-degree-of-freedom robotic arm model, a 14-degree-of-freedom dual-arm tandem model, a 14-degree-of-freedom robotic arm single-arm-torso-robotic arm single-arm tandem model, and a 21-degree-of-freedom robotic arm single-arm-torso-robotic arm single-arm-robotic arm single-arm model;

[0008] Step 2: Export and import the model

[0009] The obtained three-dimensional model is exported to generate a parameterized model file, and then the parameterized model file is imported into the ROS2-Gazebo simulation environment;

[0010] Step 3: Configure the ros2-control framework

[0011] The ros2-control framework is configured for the 7-DOF manipulator model, the 14-DOF dual-arm tandem model, the 14-DOF manipulator single-arm-torso-manipulator single-arm tandem model, and the 21-DOF manipulator single-arm-torso-manipulator single-arm-manipulator single-arm model. The ros2-control framework is communicated with the simulation model system to control the motion of different configurations of the three-branch reconfigurable space robot and realize the interaction between the robot and the environment.

[0012] Step 4: Write the inverse kinematics algorithm interface

[0013] Write inverse kinematics algorithm interfaces for 7-DOF single-arm, 14-DOF dual-arm series, and 21-DOF three-arm series, and implement robot path planning and inverse kinematics algorithm simulation experiments through the inverse kinematics algorithm interfaces;

[0014] Step 5: Design the camera module and recognition target

[0015] Design a camera module for a three-branch reconfigurable space robot, and design recognition targets for the manipulator interface on the target aircraft platform, target aircraft object, and tool;

[0016] Step 6: Build a dynamic model

[0017] Establish a three-branch reconfigurable space robot dynamics model with multiple working states to simulate the disturbance effects of the robot's motion on the aircraft platform in a space environment;

[0018] Step 7: Build a distributed virtual environment framework

[0019] Build a distributed virtual environment framework, adopt a cross-process communication protocol based on ROS2, define functional components as independent nodes, and establish a publish / subscribe rule base for inter-node messaging to facilitate data communication between functional components within the system;

[0020] Step 8: Design a visual interactive platform

[0021] Design a QT-based visual interaction platform, adopt modular design and responsive layout, and divide the QT interface into a public area and a task customization area.

[0022] Furthermore, in the three-dimensional model of the step one, a URDF file set of multiple configurations is provided for the three-branch reconfigurable space robot, specifically a single-arm model URDF file for a robotic arm with a 7-degree-of-freedom forward and reverse link coordinate system, a dual-arm series model URDF file for a 14-degree-of-freedom forward and reverse link coordinate system, a single-arm-torso-robotic-arm single-arm series model URDF file for a 14-degree-of-freedom forward and reverse link coordinate system, and a single-arm-torso-robotic-arm single-arm model URDF file for a 21-degree-of-freedom forward and reverse link coordinate system; for the space environment, a .world file written in SDF format is used, which covers the lighting, gravity, user camera perspective, object model, physics engine and plug-in information of the simulated space environment.

[0023] Furthermore, the ros2-control framework in step 3 is built based on ROS2, and its architecture includes a controller manager, a resource manager, a controller, a user interface, hardware components, a hardware description in URDF, and a YAML configuration file.

[0024] Furthermore, the dynamic models of the three-branch reconfigurable space robot in multiple working states in step six include: a dynamic model of the three-branch reconfigurable space robot configuration one in a floating state connected to an aircraft platform in a floating state, a dynamic model of the three-branch reconfigurable space robot configuration two in a floating state connected to an aircraft platform in a fixed state, a dynamic model of the three-branch reconfigurable space robot configuration two in a floating state connected to an aircraft platform in a floating state, and a dynamic model of the three-branch reconfigurable space robot configuration one in a floating state connected to an aircraft platform in a fixed state.

[0025] Compared with the prior art, the present invention has the following beneficial effects:

[0026] 1. This paper builds a simulation platform based on ROS2 and the Gazebo 3D simulator, and designs multiple practical customized Gazebo plug-ins. By designing a plug-in that can read the relative pose between any links of any model, the relative positions of robot components can be displayed in real time. Compared with the traditional method of setting the relative positions of robot components in the launch file, this avoids the repetition of modifying, compiling, and launching once, greatly reducing the tedious workload. The designed attach-detach locking plug-in effectively solves the problem of variable base in the dynamic simulation process of spatial multi-branch robots and avoids the problem of end-effector vibration caused by inaccurate collision detection information.

[0027] 2. This invention proposes to use reinforcement learning to perform path planning for each space mission, including at least automatic obstacle avoidance and optimal route selection. It has the ability to automatically re-plan paths in real time in unfamiliar environments and emergencies, addressing the slow efficiency and poor flexibility of traditional path planning methods and maximizing the ability to cope with the uncertainty of the space environment.

[0028] 3. This paper proposes a framework configuration method for multi-manipulator ros2-control, which uses the remapping method to rename the robot-description node names of the three manipulators. This solves the problem that the three manipulators cannot be correctly displayed in gazebo at the same time due to node name conflicts when configuring ros2-control for the three manipulators and importing them into gazebo.

[0029] 4. This invention proposes a kinematic model construction scheme for multiple working states of a multi-branch reconfigurable space robot, which solves the difficulty of simulating the manipulator reconfiguration task and realizes the motion control problem of the multi-branch reconfigurable space robot in multiple configurations.

[0030] 5. This paper proposes a three-branch reconfigurable space robot dynamics model that establishes multiple working states. This model simulates the disturbance effects of robot motion on the aircraft platform in a space environment, overcomes the difficulties of realistically simulating the physical environment of space, and provides an important reference for the realization of on-orbit services.

[0031] 6. Propose a modular design scheme and responsive layout for a QT-based visual interactive platform, dividing the QT interface into a public area and a task-customized area. This will meet the functional requirements of the interactive platform while minimizing repeated function writing, reducing working memory, lowering computer performance requirements and consumption, and reducing energy consumption for the space station. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] Figure 1 Schematic diagram of the platform architecture of the simulation method of the present invention;

[0033] Figure 2 is a flow chart of the simulation method of the present invention;

[0034] Figure 3 It is a flow chart of the steps for implementing the robot simulation task in the simulation method of the present invention;

[0035] Figure 4 Schematic diagram of the initial state of the multi-branch robot simulation model in the simulation method of the present invention;

[0036] Figure 5 Schematic diagram of the three-arm series connection state of the multi-branch robot simulation model in the simulation method of the present invention;

[0037] Figure 6 It is a multi-branch robot simulation interface based on ROS2-Gazebo in the simulation method of the present invention;

[0038] Figure 7 It is a schematic diagram of a task of simulating capturing a target aircraft in the simulation method of the present invention;

[0039] Figure 8 It is a schematic diagram of a simulation tool acquisition task in the simulation method of the present invention;

[0040] Figure 9 is a schematic diagram of a simulation reconstruction task in the simulation method of the present invention;

[0041] Figure 10 It is the human-computer interaction interface of the simulation platform in the simulation method of the present invention.

[0042] It should be noted that Figures 6 to 9 The model in the figure is a simplified schematic model and can actually be replaced by any real model. DETAILED DESCRIPTION

[0043] The technical solutions of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the invention, rather than all the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of the present invention.

[0044] like Figures 1 to 10 As shown in the figure, a three-branch reconfigurable space robot visualization interactive simulation method based on ROS2-Gazebo-QT is proposed. Its platform architecture is combined with Figure 1 As shown, the specific process is combined with Figure 2 As shown, the following steps are included:

[0045] Step 1: Obtain a 3D model

[0046] A three-dimensional model including multiple configurations of a three-branch reconfigurable space robot, an aircraft platform, a target aircraft object, a tool, and a space environment is obtained, wherein the multiple configurations of the three-branch reconfigurable space robot include at least a 7-degree-of-freedom robotic arm model, a 14-degree-of-freedom dual-arm series model, a 14-degree-of-freedom robotic arm single-arm-torso-robotic arm single-arm series model, and a 21-degree-of-freedom robotic arm single-arm-torso-robotic arm single-arm-robotic arm single-arm model.

[0047] Three-branch reconfigurable space robot model: provides URDF file sets with multiple configurations, including a single-arm robot model URDF file with a 7-degree-of-freedom forward and reverse link coordinate system; a dual-arm series model URDF file with a 14-degree-of-freedom forward and reverse link coordinate system, and there are multiple 14-degree-of-freedom forward-established dual-arm series model URDF files; a single-arm robot-torso-robot-single-arm series model URDF file with a 14-degree-of-freedom forward and reverse link coordinate system; and a single-arm robot-torso-robot-single-arm robot model URDF file with a 21-degree-of-freedom forward and reverse establishment.

[0048] Space environment model: A .world file written in SDF format. This file contains information about the simulated space environment's lighting, gravity, user camera perspective, object models, physics engine, and plugins. The lighting environment simulates starlight by adding multiple distant light sources. The dynamic parameters of the environment model can also be customized to meet specific needs, such as varying microgravity parameters for different orbital altitudes.

[0049] Step 2: Export and import the model

[0050] The obtained 3D model is exported to generate parameterized model files, and then these parameterized model files are imported into the ROS2-Gazebo simulation environment. For example, the initial state of the multi-branch robot simulation model is combined with Figure 4 As shown, the three-arm series state is combined Figure 5 shown.

[0051] Step 3: Configure the ros2-control framework

[0052] The ros2-control framework is configured for the 7-DOF robotic arm model, the 14-DOF dual-arm tandem model, the 14-DOF single-arm-torso-robotic-arm tandem model, and the 21-DOF single-arm-torso-robotic-arm single-arm model. This framework, built on ROS 2, aims to simplify the integration of new hardware and overcome issues present in ROS 1. Its architecture comprises a Controller Manager (CM), a Resource Manager (RM), controllers, a user interface, hardware components, hardware descriptions in URDF, and YAML configuration files.

[0053] During the configuration process, for the three 7-DOF manipulators, remapping was used to rename the robot-description nodes for the three manipulators. This resolved the issue of node name conflicts when configuring ros2-control for all three manipulators and importing them into Gazebo, which prevented the three manipulators from displaying correctly in Gazebo. After configuration, the framework communicated with the simulation model system to control the motion of different configurations of the three-branch reconfigurable spatial robot and enable interaction between the robot and its environment.

[0054] Step 4: Write the inverse kinematics algorithm interface

[0055] Write inverse kinematics algorithm interfaces for 7-DOF single-arm, 14-DOF dual-arm series, and 21-DOF three-arm series, and use these interfaces to implement robot path planning and inverse kinematics algorithm simulation experiments.

[0056] Step 5: Design the camera module and recognition target

[0057] A camera module was designed for a three-arm reconfigurable space robot. Specifically, a camera module was designed for link 7 and the base link of the 7-DOF manipulator, and a camera module was designed for the torso of the three-arm reconfigurable space robot. This design is designed so that when the 7-DOF manipulator is reconfigured, the original base link becomes link 7, and vice versa. This ensures that the three-arm reconfigurable space robot maintains the required visual functions both before and after the reconfiguration.

[0058] At the same time, identification targets are designed for the target aircraft platform, target aircraft object and the robotic arm interface on the tool.

[0059] Step 6: Build a dynamic model

[0060] Dynamic models of a three-branch reconfigurable space robot in various operating states were established to simulate the disturbances caused by the robot's motion in a space environment. Specific dynamic models included: a dynamic model of the floating three-branch reconfigurable space robot's first configuration connected to a floating aircraft platform; a dynamic model of the floating three-branch reconfigurable space robot's second configuration connected to a fixed aircraft platform; a dynamic model of the floating three-branch reconfigurable space robot's second configuration connected to a floating aircraft platform; and a dynamic model of the floating three-branch reconfigurable space robot's first configuration connected to a fixed aircraft platform.

[0061] In practical applications, the aircraft platform is equipped with an attitude and orbit control engine to compensate for the disturbance caused by the movement of the manipulator. However, considering factors such as energy consumption and the anti-disturbance threshold of the attitude and orbit control engine, the dynamics simulation is divided into power mode and energy-saving mode:

[0062] Power mode: The attitude and orbit control engines on the spacecraft platform are in operation. When the torque generated by the movement of the three-branch reconfigurable space robot is greater than or equal to the maximum compensation torque of the attitude and orbit control engines, the spacecraft platform is set to a fixed state; when the torque generated by the movement of the three-branch reconfigurable space robot is less than the maximum compensation torque of the attitude and orbit control engines, the spacecraft platform is set to a floating state.

[0063] Energy-saving mode: The attitude and orbit control engines on the aircraft platform are shut down, and the aircraft platform is set to floating state.

[0064] The specific process of establishing a dynamic method based on imitation learning is as follows: through ground-simulated microgravity environment experiments or real space experiments, sensors are used to measure the physical information such as force and torque between the robot and the target aircraft collected during the ground simulation experiment to establish an imitation learning database, and after training, a dynamic model in the simulation platform is established.

[0065] Step 7: Build a distributed virtual environment framework

[0066] A distributed virtual environment framework is constructed, using a cross-process communication protocol based on ROS2. Functional components are defined as independent nodes, and a publish / subscribe rule base for inter-node messaging is established to facilitate data communication between functional components within the system.

[0067] Furthermore, a set of task-specific node activation and environmental parameter setting specifications was developed. This enabled the simulation testing of a three-module reconfigurable space robot using startup scripts to adapt to diverse mission requirements. This design enhanced the system's modularity and reconfiguration capabilities, providing greater flexibility and scalability for space robot simulation testing.

[0068] At the same time, based on QT design visual interaction platform, combined with Figure 10 As shown, it adopts modular design and responsive layout. The QT interface is divided into a common area and a task customization area:

[0069] Public area: Contains information and functions required for different tasks of the three-branch reconfigurable space robot, specifically the real-time display function of the joint angles, joint torques, and joint currents of the three robotic arms of the three-branch reconfigurable space robot and the real-time sending functions of input and support bar types; the real-time display function of the end position of the three robotic arms and torso of the three-branch reconfigurable space robot; the enable state selection button of the three robotic arms of the three-branch reconfigurable space robot; and the real-time display function of the cameras of the three robotic arms and torso of the three-branch reconfigurable space robot.

[0070] Mission customization area: Combine Figure 3 As shown, it includes at least the task of capturing the target aircraft, the task of retrieving tools, the task of climbing on orbit, and the task of reconstruction. Each task adopts a modular design, and the QT buttons for each step are designed:

[0071] The target aircraft capture task is divided into 7 steps corresponding to 7 buttons. Button 1 initializes the simulation platform and loads the robot, tool, aircraft, and environment models. Button 2 moves the end link of the three-branch reconfigurable space robot's manipulator arm 1 to 20 cm above the docking interface of the target aircraft 1. Button 3 docks and locks the end of the three-branch reconfigurable space robot's manipulator arm 1 with the docking interface of the target aircraft 1. Button 4 causes the end of the three-branch reconfigurable space robot's manipulator arm 1 to drive the target aircraft 1 to 20 cm above the docking interface between the target aircraft 2 and the target aircraft 1. Button 5 causes the end of the three-branch reconfigurable space robot's manipulator arm 1 to drive the target aircraft 1 to dock and lock the target aircraft 2. Button 6 disconnects the end of the three-branch reconfigurable space robot's manipulator arm 1 from the docking interface of the target aircraft 1 and moves it to 20 cm above the docking interface of the target aircraft 1. Button 7 resets the three-branch reconfigurable space robot.

[0072] Tool retrieval task: This task is divided into 9 steps and corresponds to 9 buttons. Button 1 is used to initialize the simulation platform and load the robot, tool, aircraft, and environment models. Button 2 moves the end link of the three-branch reconfigurable space robot's manipulator arm 1 to 20 cm above the torso adapter docking interface. Button 3 docks and locks the end of the three-branch reconfigurable space robot's manipulator arm 1 with the torso adapter. Button 4 causes the end of the three-branch reconfigurable space robot's manipulator arm 1 to drive the adapter to 20 cm above the front surface of the torso. Button 5 causes the manipulator arm 1 to drive the end and the torso adapter to 20 cm above the torso tool docking interface. Button 6 causes the adapter interface of the end link of the three-branch reconfigurable space robot's manipulator arm 1 to dock and lock the torso tool interface. Button 7 causes the end of the three-branch reconfigurable space robot's manipulator arm 1 to drive the adapter and tool to 20 cm above the front surface of the torso. Button 8 executes the specific task to be performed by the tool. Button 9 resets the three-branch reconfigurable space robot.

[0073] On-orbit climbing task: divided into 7 steps corresponding to 7 buttons. Button 1 initializes the simulation platform and loads the robot, tool, aircraft, and environment models; Button 2 moves the end link of the three-branch reconfigurable space robot's manipulator arm 1 to 5 cm above the aircraft footprint docking interface; Button 3 docks and locks the end link of the three-branch reconfigurable space robot's manipulator arm 1 with the aircraft footprint docking interface; Button 4 disconnects the end link of the three-branch reconfigurable space robot's manipulator arm 3 from the aircraft footprint docking interface; Button 5 moves the end link of the three-branch reconfigurable space robot's manipulator arm 3 to 5 cm above the footprint docking interface; Button 6 docks and locks the end link of the three-branch reconfigurable space robot's manipulator arm 3 with the aircraft footprint docking interface; Button 7 resets the three-branch reconfigurable space robot.

[0074] Manipulator Reconfiguration Task: This task consists of nine steps and nine corresponding buttons. Button 1 initializes the simulation platform and loads the robot, tool, aircraft, and environment models. Button 2 moves the end link of the three-branch reconfigurable space robot's manipulator arm 1 to the set position 1. Button 3 moves the end link of the three-branch reconfigurable space robot's manipulator arm 2 to the set position 2. Button 4 docks and locks the end of the three-branch reconfigurable space robot's manipulator arm 1 with the end of the manipulator arm 2. Button 5 disconnects the base-link of the manipulator arm 2 from the docking interface of the three-branch reconfigurable space robot's trunk and executes the set function. Button 6 causes the end link of the three-branch reconfigurable space robot's manipulator arm 1 to drive the manipulator arm 2 to the set position 3. Button 7 docks and locks the base-link of the three-branch reconfigurable space robot's manipulator arm 2 to the docking interface of the three-branch reconfigurable space robot's trunk. Button 8 disconnects the end of the three-branch reconfigurable space robot's manipulator arm 1 from the end of the manipulator arm 2. Button 9 resets the three-branch reconfigurable space robot.

[0075] Among them, the multi-branch robot simulation interface based on ROS2-Gazebo is combined Figure 6 As shown in Figure 7, it is the initial state before the simulation task is executed. The simulation task of capturing the target aircraft is combined with the simulation task of taking the tool. Figure 8 As shown, the simulation reconstruction task is combined with Figure 9 Each mission utilizes reinforcement learning-based path planning, with automatic obstacle avoidance and optimal route selection. It can automatically replan its path in real time when faced with unfamiliar environments and emergencies, resolving the inefficiency and inflexibility of traditional path planning methods and maximizing its ability to cope with the uncertainties of the space environment. Furthermore, its modular design allows for customization based on specific missions.

[0076] Step 8: Design a visual interactive platform

[0077] A QT-based visual interaction platform was designed, employing a modular design and responsive layout, dividing the QT interface into a common area and a task-specific area. This approach not only met the functional requirements of the interactive platform, but also minimized duplication of function writing, reduced working memory, lowered computer performance requirements and consumption, and reduced energy consumption for the space station.

[0078] In summary, the present invention obtains a three-dimensional model including multiple configurations of a three-branch reconfigurable space robot, an aircraft platform, a target aircraft object, tools and a space environment, exports the three-dimensional model to generate a parameterized model file, and imports it into the ROS2 simulation environment, configures ros2-control for the 7-DOF redundant manipulator, communicates with the simulation model system, controls the movement of the three manipulator arms in the three-branch space robot, enables the three-branch space robot to interact with the environment, establishes the motion equations of the three-branch space robot that describe the rigid body motion characteristics, writes the inverse kinematics algorithm interface of 7-DOF single arm, 14-DOF double arms in series, and 21-DOF three arms in series, realizes the robot path planning and inverse kinematics algorithm simulation experiment, utilizes the ROS2 inter-process communication mechanism, designs a distributed simulation software architecture, takes the functional modules as nodes, and establishes A message publishing and subscription rule base for communication between nodes, realizing message transmission of each functional module of the system, designing node startup and environmental parameter configuration rules for identified task requirements, realizing multi-task simulation test of three-branch reconfigurable space robot based on startup file, designing multi-task motion planning algorithm based on reinforcement learning, including reconstruction task, capture task, tool replacement task, designing attach-detach plug-in for realizing robot reconfigurable task simulation, designing and implementing plug-in for reading the relative pose between any link of any model, designing and implementing camera plug-in for the end of the robotic arm and the base, realizing visual function in the process of simulating the movement of the robotic arm, establishing dynamic model based on imitation learning, realizing simulation of the disturbance effect of robot movement on the aircraft platform in simulated space environment, and designing a visual interactive platform based on QT.

[0079] It will be apparent to those skilled in the art that the present invention is not limited to the details of the exemplary embodiments described above and that the invention can be implemented in other configurations without departing from the spirit or essential characteristics of the invention. Therefore, the embodiments should be considered in all respects as illustrative and non-restrictive, and the scope of the invention is defined by the appended claims, not the foregoing description, and all variations coming within the meaning and range of equivalents of the claims are intended to be embraced therein. Any reference sign in a claim should not be construed as limiting the claim to which it relates.

[0080] In addition, it should be understood that although this specification is described in terms of implementation methods, not every implementation method contains only one independent technical solution. This narrative method of the specification is only for the sake of clarity. Those skilled in the art should regard the specification as a whole. The technical solutions in each embodiment can also be appropriately combined to form other implementation methods that can be understood by those skilled in the art.

Claims

1. A three-branch reconfigurable space robot visualization and interactive simulation method based on ROS2-Gazebo-QT, characterized by: The following steps are involved: Step 1: Obtain a 3D model Acquire a three-dimensional model comprising multiple configurations of a three-branch reconfigurable space robot, an aircraft platform, a target aircraft object, a tool, and a space environment, wherein the multiple configurations of the three-branch reconfigurable space robot include at least a 7-degree-of-freedom robotic arm model, a 14-degree-of-freedom dual-arm tandem model, a 14-degree-of-freedom robotic arm single-arm-torso-robotic arm single-arm tandem model, and a 21-degree-of-freedom robotic arm single-arm-torso-robotic arm single-arm-robotic arm single-arm model; Step 2: Export and import the model The obtained three-dimensional model is exported to generate a parameterized model file, and then the parameterized model file is imported into the ROS2-Gazebo simulation environment; Step 3: Configure the ros2-control framework The ros2-control framework is configured for the 7-DOF manipulator model, the 14-DOF dual-arm tandem model, the 14-DOF manipulator single-arm-torso-manipulator single-arm tandem model, and the 21-DOF manipulator single-arm-torso-manipulator single-arm-manipulator single-arm model. The ros2-control framework is communicated with the simulation model system to control the motion of different configurations of the three-branch reconfigurable space robot and realize the interaction between the robot and the environment. Step 4: Write the inverse kinematics algorithm interface Write inverse kinematics algorithm interfaces for 7-DOF single-arm, 14-DOF dual-arm series, and 21-DOF three-arm series, and implement robot path planning and inverse kinematics algorithm simulation experiments through the inverse kinematics algorithm interfaces; Step 5: Design the camera module and recognition target Design a camera module for a three-branch reconfigurable space robot, and design recognition targets for the manipulator interface on the target aircraft platform, target aircraft object, and tool; Step 6: Build a dynamic model Establish a three-branch reconfigurable space robot dynamics model with multiple working states to simulate the disturbance effects of the robot's motion on the aircraft platform in a space environment; Step 7: Build a distributed virtual environment framework Build a distributed virtual environment framework, adopt a cross-process communication protocol based on ROS2, define functional components as independent nodes, and establish a publish / subscribe rule base for inter-node messaging to facilitate data communication between functional components within the system; Step 8: Design a visual interactive platform Design a QT-based visual interaction platform, adopt modular design and responsive layout, and divide the QT interface into a public area and a task customization area.

2. The three-branch reconfigurable space robot visual interactive simulation method based on ROS2-Gazebo-QT according to claim 1 is characterized by: In the three-dimensional model of the step one, a URDF file set of multiple configurations is provided for the three-branch reconfigurable space robot, specifically a single-arm model URDF file for a robotic arm with a 7-degree-of-freedom forward and reverse link coordinate system, a dual-arm series model URDF file for a 14-degree-of-freedom forward and reverse link coordinate system, a single-arm-torso-robotic-arm single-arm series model URDF file for a 14-degree-of-freedom forward and reverse link coordinate system, and a single-arm-torso-robotic-arm single-arm model URDF file for a 21-degree-of-freedom forward and reverse link coordinate system; for the space environment, a .world file written in SDF format is used, which covers the lighting, gravity, user camera perspective, object model, physics engine and plug-in information of the simulated space environment.

3. The three-branch reconfigurable space robot visual interactive simulation method based on ROS2-Gazebo-QT according to claim 1 is characterized by: The ros2-control framework in step 3 is built based on ROS2, and its architecture includes a controller manager, a resource manager, a controller, a user interface, hardware components, hardware descriptions in URDF, and a YAML configuration file.

4. The three-branch reconfigurable space robot visual interactive simulation method based on ROS2-Gazebo-QT according to claim 1 is characterized by: The dynamic models of the three-branch reconfigurable space robot in multiple working states in step six include: a dynamic model of the three-branch reconfigurable space robot configuration one in a floating state connected to an aircraft platform in a floating state, a dynamic model of the three-branch reconfigurable space robot configuration two in a floating state connected to an aircraft platform in a fixed state, a dynamic model of the three-branch reconfigurable space robot configuration two in a floating state connected to an aircraft platform in a floating state, and a dynamic model of the three-branch reconfigurable space robot configuration one in a floating state connected to an aircraft platform in a fixed state.

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