@43996173
display_robot.launch.py代码：
import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
def generate_launch_description():
urdf_tutorial_path = get_package_share_directory('fishbot_description')
default_model_path = urdf_tutorial_path + '/urdf/first_robot.urdf'
#print (str(default_model_path))
default_rviz_config_path = urdf_tutorial_path + '/config/rviz/display_model.rviz'
action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
name='model', default_value=str(default_model_path),
description='URDF的绝对路径')
robot_description=launch_ros.parameter_descriptions.ParameterValue(
launch.substitutions.Command(
['xacro ', launch.substitutions.LaunchConfiguration('model')]),
value_type=str)
robot_state_publisher_node = launch_ros.actions.Node (
package='robot_state_publisher',
executable='robot_state_publisher',
parameters=[{'robot_description':robot_description}])
joint_state_publisher_node = launch_ros.actions.Node(
package='joint_state_publisher',
executable='joint_state_publisher',
)
rviz_node = launch_ros.actions.Node(
package='rviz2',
executable='rviz2',
arguments=['-d', default_rviz_config_path]
)
return launch.LaunchDescription([
action_declare_arg_mode_path,
joint_state_publisher_node,
robot_state_publisher_node,
rviz_node
])
first_robot.urdf.xacro代码：
<?xml version="1.0"?>
<robot xmlns:xacro="http://www.ros.org/wiki/xacro" name="first_robot">
<!--声明base模块-->
<xacro:macro name="base_link" params="length radius">
<link name="base_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<cylinder radius="${length}" length="${length}"/>
</geometry>
<material name="white">
<color rgba="1.0 1.0 1.0 0.5"/>
</material>
</visual>
</link>
</xacro:macro>
<!--声明imu模块-->
<xacro:macro name="imu_link" params="imu_name xyz">
<link name="${imu_name}_link">
<visual>
<origin xyz="0.0 0.0 0.0" rpy="0.0 0.0 0.0"/>
<geometry>
<box size="0.02 0.02 0.02"/>
</geometry>
</visual>
<material name="black">
<color rgba="0.0 0.0 0.0 0.5"/>
</material>
</link>
<joint name="${imu_name}_joint" type="fixed">
<parent link="base_link"/>
<child link="${imu_name}_link"/>
<origin xyz="${xyz}"/>
</joint>
</xacro:macro>
<!--传递参数调用base_link模块-->
<xacro:base_link length="0.12" radius="0.1"/>
<!--传递参数调用imu模块-->
<xacro:imu_link imu_name="imu_up" xyz="0 0 0.02" />
<xacro:imu_link imu_name="imu_down" xyz="0.0 0.0 -0.02" />
</robot>
