gazebo显示完成

simulation_ws/robotic_arm/launch/gazebo.launch.py

@@ -0,0 +1,64 @@
+import os
+import xacro
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import ExecuteProcess, TimerAction
+from launch_ros.actions import Node
+
+def generate_launch_description():
+
+    pkg_path = get_package_share_directory('robotic_arm')
+    xacro_file = os.path.join(pkg_path, 'urdf', 'robotic_arm.urdf.xacro')
+    robot_description_config = xacro.process_file(xacro_file)
+    robot_description = {'robot_description': robot_description_config.toxml()}
+
+    # 启动 Gazebo
+    gazebo = ExecuteProcess(
+        cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'],
+        output='screen'
+    )
+
+    # 发布机器人状态
+    rsp = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        output='screen',
+        parameters=[robot_description]
+    )
+
+    # 在 Gazebo 中生成机器人
+    spawn = Node(
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        output='screen',
+        arguments=[
+            '-topic', 'robot_description',
+            '-entity', 'robotic_arm',
+            '-x', '0',
+            '-y', '0',
+            '-z', '0.0',
+        ],
+    )
+
+    # 加载关节状态控制器
+    spawn_jsc = Node(
+        package='controller_manager',
+        executable='spawner',
+        output='screen',
+        arguments=['joint_state_broadcaster', '--controller-manager', '/controller_manager'],
+    )
+
+    # 加载机械臂位置控制器
+    spawn_arm = Node(
+        package='controller_manager',
+        executable='spawner',
+        output='screen',
+        arguments=['arm_position_controller', '--controller-manager', '/controller_manager'],
+    )
+
+    return LaunchDescription([
+        gazebo,
+        rsp,
+        TimerAction(period=3.0, actions=[spawn]),
+        TimerAction(period=6.0, actions=[spawn_jsc, spawn_arm]),
+    ])