ROS之gazebo仿真

启动gazebo的launch文件

<launch>
  <arg name="world_file"  default="/home/wode/gazebo_world/world12021045.world"/>

  <include file="$(find gazebo_ros)/launch/empty_world.launch">
    <arg name="use_sim_time" value="true"/>
    <arg name="debug" value="false"/>
    <arg name="gui" value="true" />
    <arg name="world_name" value="$(arg world_file)"/>
  </include>
  
  <arg name="model" default="/home/wode/rosws/src/mbot_description/urdf/xacro/gazebo/mbot_with_laser_gazebo.xacro" />
  <param name="robot_description" command="$(find xacro)/xacro.py $(arg model)" />
  
  <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
    args="-urdf -model bot -param robot_description -z 0.05" />

  <!-- 运行joint_state_publisher节点，发布机器人的关节状态  -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" />

  <!-- 运行robot_state_publisher节点，发布tf  -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
  
</launch>

``

来源：CSDN

作者：zzmog

链接：https://blog.csdn.net/zzmog/article/details/103464971