机械臂仿真构建完成

simulation_ws/trolley/launch/gazeboDisPlay.launch.py

@@ -0,0 +1,79 @@
+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]),
+    ])