机械臂仿真构建完成

simulation_ws/trolley/config/ros2_controllers.yaml

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+# joint_state_broadcaster（发布 joint state）
+# diff_drive_controller（订阅 cmd_vel，输出轮子速度命令）
+
+controller_manager:
+  ros__parameters:
+    update_rate: 50
+
+    joint_state_broadcaster:
+      type: joint_state_broadcaster/JointStateBroadcaster
+
+    diff_drive_controller:
+      type: diff_drive_controller/DiffDriveController
+
+diff_drive_controller:
+  ros__parameters:
+    left_wheel_names:  ["front_left_wheel_joint", "rear_left_wheel_joint"]
+    right_wheel_names: ["front_right_wheel_joint", "rear_right_wheel_joint"]
+
+    wheel_separation: 0.3
+    wheel_radius: 0.05
+
+    base_frame_id: base_link
+    odom_frame_id: odom
+    enable_odom_tf: true
+
+    cmd_vel_timeout: 0.5
+    use_stamped_vel: false