79 lines
2.5 KiB
Python
79 lines
2.5 KiB
Python
import os
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import tempfile
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from launch import LaunchDescription
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from launch.actions import IncludeLaunchDescription, TimerAction, SetEnvironmentVariable
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from launch.launch_description_sources import PythonLaunchDescriptionSource
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from launch_ros.actions import Node
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from ament_index_python.packages import get_package_share_directory
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import xacro
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def generate_launch_description():
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pkg_trolley = get_package_share_directory("trolley")
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xacro_path = os.path.join(pkg_trolley, "urdf", "miniBox.urdf.xacro")
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pkg_gazebo = get_package_share_directory("gazebo_ros")
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controllers_yaml = os.path.join(pkg_trolley, "config", "ros2_controllers.yaml")
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# 解析 xacro，传入 controllers_yaml 路径
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robot_description = xacro.process_file(
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xacro_path,
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mappings={"controllers_yaml": controllers_yaml}
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).toxml()
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# ★ 将 urdf 写入固定路径临时文件（不是随机名），方便调试
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urdf_tmp_path = "/tmp/box_bot.urdf"
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with open(urdf_tmp_path, 'w') as f:
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f.write(robot_description)
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gazebo = IncludeLaunchDescription(
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PythonLaunchDescriptionSource(
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os.path.join(pkg_gazebo, "launch", "gazebo.launch.py")
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)
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)
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# ★ robot_state_publisher 使用文件路径，不传字符串参数
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rsp = Node(
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package="robot_state_publisher",
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executable="robot_state_publisher",
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output="screen",
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parameters=[{
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"use_sim_time": True,
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"robot_description": robot_description,
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}],
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# ★ 关键：通过环境变量设置 RCL 参数长度限制
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additional_env={"RCUTILS_LOGGING_BUFFERED_STREAM": "1"},
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)
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spawn = Node(
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package="gazebo_ros",
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executable="spawn_entity.py",
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output="screen",
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arguments=[
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"-file", urdf_tmp_path,
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"-entity", "box_bot",
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"-z", "0.05",
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],
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)
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spawn_jsb = Node(
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package="controller_manager",
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executable="spawner",
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output="screen",
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arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
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)
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spawn_dd = Node(
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package="controller_manager",
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executable="spawner",
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output="screen",
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arguments=["diff_drive_controller", "--controller-manager", "/controller_manager"],
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)
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return LaunchDescription([
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gazebo,
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rsp,
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TimerAction(period=3.0, actions=[spawn]),
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TimerAction(period=6.0, actions=[spawn_jsb, spawn_dd]),
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]) |