解决后代码：
irobot.urdf
<?xml version="1.0" encoding="utf-8"?>
<robot
name="irobot">
<link
name="base_link">
<inertial>
<origin
xyz="0.035298 6.2375E-05 0.0016857"
rpy="0 0 0" />
<mass
value="5" />
<inertia
ixx="0.038"
ixy="0"
ixz="0"
iyy="0.026"
iyz="0"
izz="0.06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://irobot/meshes/base_link.STL" />
</geometry>
<material
name="">
<color
rgba="0 0 0 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://irobot/meshes/base_link.STL" />
</geometry>
</collision>
</link>
<link
name="top_link">
<inertial>
<origin
xyz="-0.0050829 -0.00015289 0.0008765"
rpy="0 0 0" />
<mass
value="0.2" />
<inertia
ixx="0.00081"
ixy="0"
ixz="0"
iyy="0.00071"
iyz="0"
izz="0.0015" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://irobot/meshes/top_link.STL" />
</geometry>
<material
name="">
<color
rgba="0 1 0 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://irobot/meshes/top_link.STL" />
</geometry>
</collision>
</link>
<joint
name="top_link2base_link"
type="fixed">
<origin
xyz="0 0 0.033795"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="top_link" />
<axis
xyz="0 -1 0" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="laser_link">
<inertial>
<origin
xyz="1.1845E-09 4.4075E-09 0.0030295"
rpy="0 0 0" />
<mass
value="0.1" />
<inertia
ixx="4.11E-08"
ixy="0"
ixz="0"
iyy="4.11E-08"
iyz="0"
izz="7.88E-08" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://irobot/meshes/laser_link.STL" />
</geometry>
<material
name="">
<color
rgba="1 0 0 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://irobot/meshes/laser_link.STL" />
</geometry>
</collision>
</link>
<joint
name="laser_link2base_link"
type="fixed">
<origin
xyz="0.155 0 0.038215"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="laser_link" />
<axis
xyz="0 -1 0" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="right_wheel">
<inertial>
<origin
xyz="-1.0317E-18 1.3878E-17 -1.7347E-18"
rpy="0 0 0" />
<mass
value="0.05" />
<inertia
ixx="2.3E-05"
ixy="0"
ixz="0"
iyy="4.3E-05"
iyz="0"
izz="2.3E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://irobot/meshes/right_wheel.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://irobot/meshes/right_wheel.STL" />
</geometry>
</collision>
</link>
<joint
name="right_wheel2base_link"
type="continuous">
<origin
xyz="0 0.10045 -0.010735"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="right_wheel" />
<axis
xyz="0 -1 0" />
<limit
lower="-3.14"
upper="3.14"
effort="100"
velocity="2" />
</joint>
<link
name="left_wheel">
<inertial>
<origin
xyz="-1.1842E-18 0 -1.7347E-18"
rpy="0 0 0" />
<mass
value="0.05" />
<inertia
ixx="2.3E-05"
ixy="0"
ixz="0"
iyy="4.3E-05"
iyz="0"
izz="2.3E-05" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://irobot/meshes/left_wheel.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://irobot/meshes/left_wheel.STL" />
</geometry>
</collision>
</link>
<joint
name="left_wheel2base_link"
type="continuous">
<origin
xyz="0 -0.10045 -0.010735"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="left_wheel" />
<axis
xyz="0 -1 0" />
<limit
lower="-3.14"
upper="3.14"
effort="100"
velocity="2" />
</joint>
<link
name="driven_wheel">
<inertial>
<origin
xyz="0 -3.4443E-19 0"
rpy="0 0 0" />
<mass
value="0.02" />
<inertia
ixx="1.27E-06"
ixy="0"
ixz="0"
iyy="1.27E-06"
iyz="0"
izz="1.27E-06" />
</inertial>
<visual>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://irobot/meshes/driven_wheel.STL" />
</geometry>
<material
name="">
<color
rgba="1 1 1 1" />
</material>
</visual>
<collision>
<origin
xyz="0 0 0"
rpy="0 0 0" />
<geometry>
<mesh
filename="package://irobot/meshes/driven_wheel.STL" />
</geometry>
</collision>
</link>
<joint
name="driven_wheel2base_link"
type="fixed">
<origin
xyz="0.13 0 -0.031735"
rpy="0 0 0" />
<parent
link="base_link" />
<child
link="driven_wheel" />
<axis
xyz="0 -1 0" />
<limit
lower="0"
upper="0"
effort="0"
velocity="0" />
</joint>
<link
name="base_footprint">
<visual>
<geometry>
<sphere
radius="0.001" />
</geometry>
<material
name="">
<color
rgba="0 0 0 0" />
</material>
</visual>
</link>
<joint
name="base_link2base_footprint"
type="fixed">
<parent
link="base_footprint" />
<child
link="base_link" />
<origin
xyz="0 0 0.047" />
</joint>
<!--color-->
<gazebo reference="base_link">
<material>Gazebo/Black</material>
</gazebo>
<gazebo reference="top_link">
<material>Gazebo/Green</material>
</gazebo>
<gazebo reference="laser_link">
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="camera_link">
<material>Gazebo/Red</material>
</gazebo>
<gazebo reference="driven_wheel">
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="left_wheel">
<material>Gazebo/White</material>
</gazebo>
<gazebo reference="right_wheel">
<material>Gazebo/White</material>
</gazebo>
<!-- controller -->
<transmission name="left_wheel2base_link_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="left_wheel2base_link">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="left_wheel2base_link_motor">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<transmission name="right_wheel2base_link_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint name="right_wheel2base_link">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator name="right_wheel2base_link_motor">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
<gazebo>
<plugin filename="libgazebo_ros_diff_drive.so" name="differential_drive_controller">
<rosDebugLevel>Debug</rosDebugLevel>
<publishWheelTF>true</publishWheelTF>
<robotNamespace>/</robotNamespace>
<publishTf>1</publishTf>
<publishWheelJointState>true</publishWheelJointState>
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<legacyMode>true</legacyMode>
<leftJoint>left_wheel2base_link</leftJoint>
<rightJoint>right_wheel2base_link</rightJoint>
<wheelSeparation>0.277</wheelSeparation>
<wheelDiameter>0.073</wheelDiameter>
<broadcastTF>1</broadcastTF>
<wheelTorque>30</wheelTorque>
<wheelAcceleration>1.8</wheelAcceleration>
<commandTopic>cmd_vel</commandTopic>
<odometryFrame>odom</odometryFrame>
<odometryTopic>odom</odometryTopic>
<robotBaseFrame>base_footprint</robotBaseFrame>
</plugin>
</gazebo>
<!--laser-->
<gazebo reference="laser_link">
<sensor name="rplidar" type="ray">
<pose>0 0 0 0 0 0</pose>
<visualize>true</visualize>
<update_rate>5.5</update_rate>
<ray>
<scan>
<horizontal>
<samples>360</samples>
<resolution>1</resolution>
<min_angle>-3</min_angle>
<max_angle>3</max_angle>
</horizontal>
</scan>
<range>
<min>0.10</min>
<max>30.0</max>
<resolution>0.01</resolution>
</range>
<noise>
<type>gaussian</type>
<mean>0.0</mean>
<stddev>0.01</stddev>
</noise>
</ray>
<plugin filename="libgazebo_ros_laser.so" name="gazebo_rplidar">
<topicName>/scan</topicName>
<frameName>laser_link</frameName>
</plugin>
</sensor>
</gazebo>
</robot>
odom_gazebo.launch
<launch>
<include
file="$(find gazebo_ros)/launch/empty_world.launch" />
<node
name="spawn_model"
pkg="gazebo_ros"
type="spawn_model"
args="-file $(find irobot)/urdf/irobot.urdf -urdf -model irobot"
output="screen" />
<node
name="fake_joint_calibration"
pkg="rostopic"
type="rostopic"
args="pub /calibrated std_msgs/Bool true" />
</launch>
odom_rviz.launch
<launch>
<param
name="robot_description"
textfile="$(find irobot)/urdf/irobot.urdf" />
<node
name="joint_state_publisher_gui"
pkg="joint_state_publisher_gui"
type="joint_state_publisher_gui" />
<node
name="robot_state_publisher"
pkg="robot_state_publisher"
type="robot_state_publisher" />
<node
name="rviz"
pkg="rviz"
type="rviz"
args="-d $(find irobot)/config/irobot.rviz" />
</launch>
