ros2与gazebo通讯问题

623934457

基础环境：
ubuntu 24.04
ros2-jazzy
gazebo-Harmonic

目的：
我在学习本站的【ROS2机器人入门到实战】-Gazebo仿真插件之两轮差速章节中遇到问题，在gazebo中导入模型正常，利用键盘控制模型原地移动正常，在rviz2中模型有显示，但只有轮子在转动，模型不动。fixed frame选项中没有odom。
gz终端显示如下：
/d2lros2/chapt8_ws$ ros2 launch fishbot_description gazebo.launch.py
[INFO] [launch]: All log files can be found below /home/gao/.ros/log/2025-09-17-09-30-35-733771-gao-ThinkPad-L430-8131
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [gazebo_sim-1]: process started with pid [8135]
[INFO] [robot_state_publisher-2]: process started with pid [8136]
[INFO] [spawn_entity-3]: process started with pid [8137]
[INFO] [joint_state_publisher-4]: process started with pid [8138]
[INFO] [gz_pose_to_tf-5]: process started with pid [8139]
[robot_state_publisher-2] [WARN] [1758072636.096789654] [kdl_parser]: The root link base_footprint has an inertia specified in the URDF, but KDL does not support a root link with an inertia. As a workaround, you can add an extra dummy link to your URDF.
[robot_state_publisher-2] [INFO] [1758072636.097000628] [robot_state_publisher]: Robot initialized
[gazebo_sim-1] Library error: libgz-tools2-backward.so.2.0.2 not found. Improved backtrace generation will be disabled
[spawn_entity-3] [INFO] [1758072636.593876496] [ros_gz_sim]: Requesting list of world names.
[joint_state_publisher-4] [INFO] [1758072637.327276699] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[gz_pose_to_tf-5] [INFO] [1758072637.482055366] [gz_pose_to_tf]: 节点启动成功，等待Gazebo位姿数据...
[spawn_entity-3] [INFO] [1758072637.685053793] [ros_gz_sim]: Waiting messages on topic [robot_description].
[spawn_entity-3] [INFO] [1758072637.690700850] [ros_gz_sim]: Entity creation successful.
[INFO] [spawn_entity-3]: process has finished cleanly [pid 8137]
[INFO] [parameter_bridge-6]: process started with pid [8310]
[parameter_bridge-6] [INFO] [1758072641.079410242] [ros_gz_bridge]: Creating ROS->GZ Bridge: [/cmd_vel (geometry_msgs/msg/Twist) -> /cmd_vel (gz.msgs.Twist)] (Lazy 0)
[parameter_bridge-6] [INFO] [1758072641.094205656] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/odom (gz.msgs.Odometry) -> /odom (nav_msgs/msg/Odometry)] (Lazy 0)
[parameter_bridge-6] [INFO] [1758072641.102399569] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/joint_states (gz.msgs.Model) -> /joint_states (sensor_msgs/msg/JointState)] (Lazy 0)
[parameter_bridge-6] [INFO] [1758072641.124001464] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/model/fishbot_base/tf (gz.msgs.Pose_V) -> /model/fishbot_base/tf (tf2_msgs/msg/TFMessage)] (Lazy 0)
[parameter_bridge-6] [INFO] [1758072641.135632301] [ros_gz_bridge]: Creating GZ->ROS Bridge: [/clock (gz.msgs.Clock) -> /clock (rosgraph_msgs/msg/Clock)] (Lazy 0)

ros2 topic list
/clicked_point
/clock
/cmd_vel
/goal_pose
/initialpose
/joint_states
/model/fishbot_base/tf
/odom
/parameter_events
/robot_description
/rosout
/tf
/tf_static
/world/default/pose/info

ros2 topic info /odom
Type: nav_msgs/msg/Odometry
Publisher count: 1
Subscription count: 0

gz topic -l
Library error: libgz-tools2-backward.so.2.0.2 not found. Improved backtrace generation will be disabled
/clock
/cmd_vel
/gazebo/resource_paths
/gui/camera/pose
/gui/currently_tracked
/gui/track
/joint_states
/model/fishbot_base/pose
/model/fishbot_base/tf
/odom
/stats
/world/empty/clock
/world/empty/dynamic_pose/info
/world/empty/pose/info
/world/empty/scene/deletion
/world/empty/scene/info
/world/empty/state
/world/empty/stats
/model/fishbot_base/enable
/world/empty/light_config
/world/empty/material_color

ros2 topic echo /odom
header:
stamp:
sec: 170
nanosec: 0
frame_id: odom
child_frame_id: base_footprint
pose:
pose:
position:
x: -4.028614228463498e-13
y: 1.2847207709729211e-12
z: 0.0
orientation:
x: 0.0
y: -0.0
z: -0.39562289102470527
w: -0.9184130487407364
covariance:

0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
twist:
twist:
linear:
x: -3.8191672047105385e-12
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: -0.6726808822151984
covariance:
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

header:
stamp:
sec: 170
nanosec: 20000000
frame_id: odom
child_frame_id: base_footprint
pose:
pose:
position:
x: -4.5447697525525446e-13
y: 1.2308509718320058e-12
z: 0.0
orientation:
x: 0.0
y: -0.0
z: -0.3894359976925846
w: -0.9210535292268204
covariance:

0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
twist:
twist:
linear:
x: -3.730349362740526e-12
y: 0.0
z: 0.0
angular:
x: 0.0
y: 0.0
z: -0.6726808822145794
covariance:
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0
0.0

gz topic -t /odom -i
Library error: libgz-tools2-backward.so.2.0.2 not found. Improved backtrace generation will be disabled
Publishers [Address, Message Type]:
tcp://172.17.0.1:42837, gz.msgs.Odometry
Subscribers [Address, Message Type]:
tcp://172.17.0.1:37283, gz.msgs.Odometry

gz topic -t /odom -e
Library error: libgz-tools2-backward.so.2.0.2 not found. Improved backtrace generation will be disabled
header {
stamp {
sec: 200
nsec: 920000000
}
data {
key: "frame_id"
value: "odom"
}
data {
key: "child_frame_id"
value: "base_footprint"
}
}
pose {
position {
x: 2.5211883694718938e-12
y: -1.8125757217106408e-13
}
orientation {
z: -0.53805043015990317
w: 0.84291264945114175
}
}
twist {
linear {
x: -1.0658141036401503e-12
}
angular {
z: -0.672680882209628
}
}

header {
stamp {
sec: 200
nsec: 940000000
}
data {
key: "frame_id"
value: "odom"
}
data {
key: "child_frame_id"
value: "base_footprint"
}
}
pose {
position {
x: 2.5138206233728475e-12
y: -1.650941404351984e-13
}
orientation {
z: -0.54370832631104715
w: 0.83927424355811131
}
}
twist {
linear {
x: -8.8817841970012523e-13
}
angular {
z: -0.67268088220839006
}
}

header {
stamp {
sec: 200
nsec: 960000000
}
data {
key: "frame_id"
value: "odom"
}
data {
key: "child_frame_id"
value: "base_footprint"
}
}
pose {
position {
x: 2.5059541819667771e-12
y: -1.4720778384187288e-13
}
orientation {
z: -0.54934161977662233
w: 0.83559786068490927
}
}
twist {
linear {
x: -1.0658141036401503e-12
}
angular {
z: -0.672680882209628
}
}

launch文件：
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import ExecuteProcess, TimerAction
from launch_ros.substitutions import FindPackageShare
import os

def generate_launch_description():
# 获取包路径和URDF
pkg_share = FindPackageShare('fishbot_description').find('fishbot_description')
urdf_path = os.path.join(pkg_share, 'urdf', 'fishbot_base.urdf')

with open(urdf_path, 'r') as f:
    robot_desc = f.read()

return LaunchDescription([
    # Gazebo仿真
    ExecuteProcess(
        cmd=['gz', 'sim', '-r', 'empty.sdf'],
        output='screen',
        name='gazebo_sim'
    ),

    # 机器人状态发布
    Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        name='robot_state_publisher',
        parameters=[{
            'robot_description': robot_desc,
            'publish_frequency': 50.0,
            'use_tf_static': True,      # 启用静态TF
            'use_sim_time': True
        }]
    ),

    # 生成机器人模型
    ExecuteProcess(
        cmd=['ros2', 'run', 'ros_gz_sim', 'create', '-topic', 'robot_description'],
        output='screen',
        name='spawn_entity'
    ),
    Node(
        package='joint_state_publisher',
        executable='joint_state_publisher',
        name='joint_state_publisher',
        parameters=[{
            'source_list': ['/joint_states'],  # 监听Gazebo发布的关节状态
            'use_sim_time': True,
            'rate': 50,
            'use_sim_time': True
        }]
    ),
    Node(
        package='fishbot_description',
        executable='gz_pose_to_tf',  # 需要创建此Python脚本
        name='gz_pose_to_tf',
        parameters=[{'use_sim_time': True}],
        output='screen'
    ),
    
    #Node(
        #package='tf2_ros',
        #executable='tf2_echo',
        #arguments=['odom', 'base_link'],
        #name='tf_debug',
        #output='screen'
    #),
    #Node(
        #package='tf2_ros',
        #executable='static_transform_publisher',
        #arguments=['0', '0', '0', '0', '0', '0', 'odom', 'base_footprint'],
        #name='static_odom_tf_publisher',
        #parameters=[{'use_sim_time': True}]
    #),
    # 延时启动的ROS-Gazebo桥接
    TimerAction(
        period=5.0,  # 延迟5秒
        actions=[
            Node(
                package='ros_gz_bridge',
                executable='parameter_bridge',
                arguments=[
                    '/cmd_vel@geometry_msgs/msg/Twist]gz.msgs.Twist',
                    '/odom@nav_msgs/msg/Odometry[gz.msgs.Odometry',                        
                    '/joint_states@sensor_msgs/msg/JointState[gz.msgs.Model',
                    '/model/fishbot_base/tf@tf2_msgs/msg/TFMessage[gz.msgs.Pose_V' ,
                    '/clock@rosgraph_msgs/msg/Clock[gz.msgs.Clock'  # 同步时钟
                    
                ],
                output='screen',
                #name='gz_bridge'
            )
        ]
    )
])

urdf文件：
<?xml version="1.0"?>
<robot name="fishbot_base">

<gazebo>
<plugin filename='libgz-sim8-diff-drive-system.so' name='gz::sim::systems::DiffDrive'>

  <update_rate>30</update_rate>
  <!-- wheels -->
  <left_joint>left_wheel_joint</left_joint>
  <right_joint>right_wheel_joint</right_joint>
  <wheel_separation>0.287</wheel_separation>
  <wheel_radius>0.033</wheel_radius>

  <!-- limits -->
  <!--max_linear_acceleration>1.0</max_linear_acceleration-->
  <min_velocity>-1.0</min_velocity>
  <max_velocity>1.0</max_velocity>
  <min_acceleration>-1.0</min_acceleration>
  <max_acceleration>1.0</max_acceleration>

  <!-- 通信设置 --> 
  <topic>/cmd_vel</topic>
  <odom_topic>/odom</odom_topic> 
  <frame_id>odom</frame_id> 
  <child_frame_id>base_footprint</child_frame_id>

  <!--robot_base_frame>base_footprint</robot_base_frame>
  <odom_frame>odom</odom_frame-->

  <publish_odom>true</publish_odom>   <!-- 确保发布里程计 -->
  <publish_odom_tf>true</publish_odom_tf>     <!-- 确保发布TF变换 -->
  <publish_wheel_tf>true</publish_wheel_tf> 
  <odometry_frame>/odom</odometry_frame>    <!-- 里程计坐标系 -->
  <robot_base_frame>base_footprint</robot_base_frame> <!-- 机器人基坐标系 -->
  <odometry_source>world</odometry_source> <!-- 里程计数据源 -->

  <!-- 发布频率 -->
  <odom_publisher_frequency>30</odom_publisher_frequency> 

  <!--tf_topic>/tf</tf_topic> 
  <publish_odom_tf>true</publish_odom_tf>
  <publish_odom>true</publish_odom>
  <odom_publisher_frequency>30</odom_publisher_frequency>
  <publish_wheel_tf>true</publish_wheel_tf> 
  
  <publish_link_pose>true</publish_link_pose>
  <publish_nested_model_pose>false</publish_nested_model_pose-->
  <!-- odom_frame>odom</odom_frame --> 
  <!-- robot_base_frame>base_link</robot_base_frame --> 

  <!-- publish_odom>true</publish_odom>
  <publish_wheel_tf>true</publish_wheel_tf -->

</plugin>

<plugin filename="libgz-sim8-joint-state-publisher-system.so" name="gz::sim::systems::JointStatePublisher"> 
  <!--update_rate>30</update_rate -->
  <topic>joint_states</topic> 
  <joint_name>right_wheel_joint</joint_name>
  <joint_name>left_wheel_joint</joint_name>
</plugin>    

<plugin filename="libgz-sim8-pose-publisher-system.so" name="gz::sim::systems::PosePublisher">
  <publish_model_pose>true</publish_model_pose>
  <update_rate>30</update_rate>
  <topic>/model/fishbot_base/pose</topic>
</plugin>
<plugin filename="gz-sim-imu-system" name="gz::sim::systems::Imu">
</plugin>

</gazebo>

<!-- 这是一个虚拟链接，不需要几何形状 -->
<inertial>
  <mass value="0.001"/>  <!-- 极小质量 -->
  <inertia ixx="0.000001" ixy="0" ixz="0" iyy="0.000001" iyz="0" izz="0.000001"/>
</inertial>

</link>

<link name="base_link">
<visual>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.10"/>
</geometry>
<material name="white">
<color rgba="1.0 1.0 1.0 0.5 " />
</material>
</visual>
<collision>
<origin xyz="0 0 0.0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.12" radius="0.10"/>
</geometry>
<surface>
<friction>
<ode>
<mu>1.0</mu>
<mu2>1.0</mu2>
</ode>
</friction>
</surface>
<material name="white">
<color rgba="1.0 1.0 1.0 0.5 " />
</material>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="0.012" ixy="0" ixz="0" iyy="0.012" iyz="0" izz="0.02"/>
</inertial>
<gazebo reference="base_link">
<turnGravityOff>false</turnGravityOff>
<dampingFactor>0.1</dampingFactor>
</gazebo>
</link>
<ros>

<ros2_interface_config>joint_pressure</ros2_interface_config>
<ros2_interface_config>model_pose</ros2_interface_config>


</ros>

<joint name="laser_joint" type="fixed">
<parent link="base_link" />
<child link="laser_link" />
<origin xyz="0 0 0.075" />
</joint>

<link name="laser_link">
<visual>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.02"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0"/>
<geometry>
<cylinder length="0.02" radius="0.02"/>
</geometry>
<material name="black">
<color rgba="0.0 0.0 0.0 1.0" />
</material>
</collision>
<inertial>
<mass value="1"/>
<inertia ixx="0.00019" ixy="0" ixz="0" iyy="0.00019" iyz="0" izz="0.00036"/>
</inertial>

<sensor name="hls_lfcd_lds" type="gpu_lidar">
  <always_on>true</always_on>
  <visualize>true</visualize>
  <update_rate>5</update_rate>
  <pose>-0.064 0 0.121 0 0 0</pose>
  <topic>scan</topic>      
  <gz_frame_id>base_scan</gz_frame_id>
  <lidar>
    <scan>
      <horizontal>
        <samples>360</samples>
        <resolution>1.000000</resolution>
        <min_angle>0.000000</min_angle>
        <max_angle>6.280000</max_angle>
      </horizontal>
    </scan>
    <range>
      <min>0.120000</min>
      <max>3.5</max>
      <resolution>0.015000</resolution>
    </range>
    <noise>
      <type>gaussian</type>
      <mean>0.0</mean>
      <stddev>0.01</stddev>
    </noise>
  </lidar>
</sensor>

</link>

    <material name="wheel_color">
     	<color rgba="0.8 0.1 0.1 1.0 " /> 
    </material>
    <surface>
      <friction>
        <ode>
          <mu>1.0</mu>  <!-- 摩擦系数 -->
          <mu2>1.0</mu2>
          <kp>1000000.0</kp>
          <kd>100.0</kd>
          <slip1>0.1</slip1>
          <slip2>0.1</slip2>
        </ode>
      </friction>
    </surface>      
  </collision>
  <inertial>
    <mass value="0.5"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.002"/>
    </inertial>

</link>

  </collision>
  <inertial>
    <mass value="0.5"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.002"/>
  </inertial>

</link>

<visual>
  <origin xyz="0 0 0.0" rpy="0 0 0"/>
  <geometry>
	    <box size="0.02 0.02 0.02"/>
  </geometry>
</visual>
<collision>
  <origin xyz="0 0 0.0" rpy="0 0 0"/>
  <geometry>
	    <box size="0.02 0.02 0.02"/>
  </geometry>
</collision>
<inertial>
  <mass value="1"/>
    <inertia ixx="0.00019" ixy="0" ixz="0" iyy="0.00019" iyz="0" izz="0.00036"/>
  </inertial>

</link>

<joint name="imu_joint" type="fixed">
<parent link="base_link" />
<child link="imu_link" />
<origin xyz="0 0 0.02" />
</joint>

<gazebo reference="caster_link">
<material>Gazebo/Black</material>
<mu1 value="1.0"/>
<mu2 value="1.0"/>
<kp value="1000000.0" />
<kd value="100.0" />

</gazebo>

</robot>
问题出在哪里？如何修改？

623934457

@小鱼请在百忙中看看，谢谢！