可正常于显示rviz中显示模型

simulation_ws/trolley/launch/display.launch.py

@@ -0,0 +1,43 @@
+import os
+import launch
+import launch_ros
+from launch_ros.actions import Node
+from launch import LaunchDescription
+from ament_index_python.packages import get_package_share_directory
+import xacro
+
+def generate_launch_description():
+    # 获取默认的urdf文件路径
+    pkg_trolley = get_package_share_directory('trolley')
+    xacro_path = os.path.join(pkg_trolley, 'urdf', 'miniBox.urdf.xacro')
+    # 处理xacro文件，生成robot_description参数
+    robot_description_config = xacro.process_file(xacro_path).toxml()
+    
+    # 创建Node节点，发布robot_description参数
+    rsp = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        output='screen',
+        parameters=[{'robot_description': robot_description_config}]
+    )
+    
+    # 给可动关节提供 joint_states 发布器
+    jsp=Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        output='screen',
+        parameters=[]
+    )
+    
+    rviz = Node(
+        package='rviz2',
+        executable='rviz2',
+        output='screen',
+        arguments=[]
+    )
+    
+    return launch.LaunchDescription([
+        rsp,
+        jsp,
+        rviz
+    ])