@FantaTerry 您好,感谢您的提问
我和您的构件思路不同,但是我发现您的robot_state_publisher只启动了一次。我的两个机械臂均有各自的robot_state_publisher用于发布机器人状态,也使用命名空间进行区分,我不确定启动一次是否可以无冲突调用,所以我进行了区分,以下是我的部分launch代码:
left_robot_state_publisher_node = Node( package='robot_state_publisher', executable='robot_state_publisher', namespace='/left_ur_ft', output='both', parameters=[{"use_sim_time": True}, left_robot_description], ) right_robot_state_publisher_node = Node( package='robot_state_publisher', executable='robot_state_publisher', namespace='/right_ur_ft', output='both', parameters=[{"use_sim_time": True}, right_robot_description], )希望能够帮到您