机械臂仿真构建完成

simulation_ws/robotic_arm/launch/display.launch.py

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+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+import xacro
+
+
+def generate_launch_description():
+    
+    pkg_path=get_package_share_directory('robotic_arm')
+    xacro_file=os.path.join(pkg_path,'urdf','robotic_arm.urdf.xacro')
+    # 解析xacro文件,展开所有宏,常量,变量,include等,得到最终的URDF字符串
+    robot_description_config=xacro.process_file(xacro_file)
+    # 将URDF字符串封装成ROS参数字典,键为'robot_description',值为URDF字符串
+    robot_description = {'robot_description': robot_description_config.toxml()}
+    
+    # 发布机器人状态的节点
+    rsp=Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        output='screen',
+        parameters=[robot_description]
+    )
+    
+    # 关节状态发布器
+    jsp=Node(
+        package='joint_state_publisher_gui',
+        executable='joint_state_publisher_gui',
+        output='screen'
+    )
+    
+    # 启动rviz2,并加载预设的rviz配置文件
+    rvz=Node(
+        package='rviz2',
+        executable='rviz2',
+        output='screen',
+        arguments=['-d', os.path.join(pkg_path,'rviz','display.rviz')]
+    )
+    
+    return LaunchDescription([
+        rsp,
+        jsp,
+        rvz
+    ])