79 lines
2.5 KiB
Python
79 lines
2.5 KiB
Python
|
import os
|
|||
|
|
import tempfile
|
|||
|
|
|
|||
|
|
from launch import LaunchDescription
|
|||
|
|
from launch.actions import IncludeLaunchDescription, TimerAction, SetEnvironmentVariable
|
|||
|
|
from launch.launch_description_sources import PythonLaunchDescriptionSource
|
|||
|
|
from launch_ros.actions import Node
|
|||
|
|
|
|||
|
|
from ament_index_python.packages import get_package_share_directory
|
|||
|
|
import xacro
|
|||
|
|
|
|||
|
|
|
|||
|
|
def generate_launch_description():
|
|||
|
|
pkg_trolley = get_package_share_directory("trolley")
|
|||
|
|
xacro_path = os.path.join(pkg_trolley, "urdf", "miniBox.urdf.xacro")
|
|||
|
|
pkg_gazebo = get_package_share_directory("gazebo_ros")
|
|||
|
|
controllers_yaml = os.path.join(pkg_trolley, "config", "ros2_controllers.yaml")
|
|||
|
|
|
|||
|
|
# 解析 xacro，传入 controllers_yaml 路径
|
|||
|
|
robot_description = xacro.process_file(
|
|||
|
|
xacro_path,
|
|||
|
|
mappings={"controllers_yaml": controllers_yaml}
|
|||
|
|
).toxml()
|
|||
|
|
|
|||
|
|
# ★ 将 urdf 写入固定路径临时文件（不是随机名），方便调试
|
|||
|
|
urdf_tmp_path = "/tmp/box_bot.urdf"
|
|||
|
|
with open(urdf_tmp_path, 'w') as f:
|
|||
|
|
f.write(robot_description)
|
|||
|
|
|
|||
|
|
gazebo = IncludeLaunchDescription(
|
|||
|
|
PythonLaunchDescriptionSource(
|
|||
|
|
os.path.join(pkg_gazebo, "launch", "gazebo.launch.py")
|
|||
|
|
)
|
|||
|
|
)
|
|||
|
|
|
|||
|
|
# ★ robot_state_publisher 使用文件路径，不传字符串参数
|
|||
|
|
rsp = Node(
|
|||
|
|
package="robot_state_publisher",
|
|||
|
|
executable="robot_state_publisher",
|
|||
|
|
output="screen",
|
|||
|
|
parameters=[{
|
|||
|
|
"use_sim_time": True,
|
|||
|
|
"robot_description": robot_description,
|
|||
|
|
}],
|
|||
|
|
# ★ 关键：通过环境变量设置 RCL 参数长度限制
|
|||
|
|
additional_env={"RCUTILS_LOGGING_BUFFERED_STREAM": "1"},
|
|||
|
|
)
|
|||
|
|
|
|||
|
|
spawn = Node(
|
|||
|
|
package="gazebo_ros",
|
|||
|
|
executable="spawn_entity.py",
|
|||
|
|
output="screen",
|
|||
|
|
arguments=[
|
|||
|
|
"-file", urdf_tmp_path,
|
|||
|
|
"-entity", "box_bot",
|
|||
|
|
"-z", "0.05",
|
|||
|
|
],
|
|||
|
|
)
|
|||
|
|
|
|||
|
|
spawn_jsb = Node(
|
|||
|
|
package="controller_manager",
|
|||
|
|
executable="spawner",
|
|||
|
|
output="screen",
|
|||
|
|
arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
|
|||
|
|
)
|
|||
|
|
|
|||
|
|
spawn_dd = Node(
|
|||
|
|
package="controller_manager",
|
|||
|
|
executable="spawner",
|
|||
|
|
output="screen",
|
|||
|
|
arguments=["diff_drive_controller", "--controller-manager", "/controller_manager"],
|
|||
|
|
)
|
|||
|
|
|
|||
|
|
return LaunchDescription([
|
|||
|
|
gazebo,
|
|||
|
|
rsp,
|
|||
|
|
TimerAction(period=3.0, actions=[spawn]),
|
|||
|
|
TimerAction(period=6.0, actions=[spawn_jsb, spawn_dd]),
|
|||
|
|
])
|