ros2 gazebo多机器人仿真问题

YoungRicky

请问ros2 gazebo仿真多机器人时该怎么进行设置？我启动rivz2后查看坐标系只有一个机器人的坐标系而且odom坐标系在不停的跳动

YoungRicky

小鱼

YoungRicky

这是我的launch文件，使用的urdf模型是轻松学ros2gazebo教程的fish_robot.urdf

from launch import LaunchDescription
from launch_ros.actions import Node
#terminator command class
from launch.actions import ExecuteProcess
from launch.substitutions import FindExecutable

#parameters' declare and obtain in a node
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration

#file, use launch to launch muitiple launch files
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource

#group
from launch_ros.actions import PushRosNamespace
from launch.actions import GroupAction

#event
from launch.event_handlers import OnProcessStart, OnProcessExit
from launch.actions import ExecuteProcess, RegisterEventHandler,LogInfo

#obtain the "share" path of the package
from ament_index_python.packages import get_package_share_directory
from launch_ros.substitutions import FindPackageShare
import os

#parameters load
from launch_ros.parameter_descriptions import ParameterValue
from launch.substitutions import Command

def generate_launch_description():
   t1 = Node(package="",executable="",name="")
   return LaunchDescription([])

def generate_launch_description():

   robot_name_in_model1 = 'robot1'
   robot_name_in_model2 = 'robot2'
   robot_name_in_model3 = 'robot3'
   package_name = 'gazebo_formation'
   urdf_name = 'fishbot_gazebo.urdf.xacro'
   world_name = 'demo.world'
   
   pkg_share = get_package_share_directory(package_name=package_name)
   urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')
   icar_urdf_model_path = os.path.join(pkg_share, f'urdf/icar_description/{urdf_name}')
   gazebo_world_path = os.path.join(pkg_share,f'world/{world_name}')

   robot_description = ParameterValue(Command(["xacro" + " ",urdf_model_path]),value_type=str)

   robot_state_pub = Node(package="robot_state_publisher",
                          executable="robot_state_publisher", 
                          parameters=[{"robot_description":robot_description}])
  
   joint_state_pub = Node(package="joint_state_publisher",executable="joint_state_publisher")

   start_gazebo_cmd = ExecuteProcess(
      cmd=['gazebo','--verbose','-s','libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so',gazebo_world_path],
      output = 'screen'
   )
   
   L = DeclareLaunchArgument(name="L",default_value="0.2")
   gui_service = Node(package="formation_qt_ros2",executable="gui_server")

   robot2_front =Node(package="tf2_ros",executable="static_transform_publisher",name="robot2_front",arguments=["--frame-id","robot2","--child-frame-id","robot2_front_frame","--x",LaunchConfiguration("L")])
   robot3_front =Node(package="tf2_ros",executable="static_transform_publisher",name="robot3_front",arguments=["--frame-id","robot3","--child-frame-id","robot3_front_frame","--x",LaunchConfiguration("L")])

   robot_spawn_1 = Node(package="gazebo_ros",executable="spawn_entity.py",arguments=['-entity', robot_name_in_model1,'-topic', 'robot_description','-robot_namespace','robot1'],output = 'screen')
   robot_spawn_2 = Node(package="gazebo_ros",executable="spawn_entity.py",arguments=['-entity', robot_name_in_model2,'-topic', 'robot_description','-robot_namespace','robot2','-x','1.0'],output = 'screen')
   robot_spawn_3 = Node(package="gazebo_ros",executable="spawn_entity.py",arguments=['-entity', robot_name_in_model3,'-topic', 'robot_description','-robot_namespace','robot3','-x','-1.0'],output = 'screen')

   g1 = GroupAction(actions=[PushRosNamespace('robot1'),robot_spawn_1])
   g2 = GroupAction(actions=[PushRosNamespace('robot2'),robot_spawn_2])
   g3 = GroupAction(actions=[PushRosNamespace('robot3'),robot_spawn_3])

   crossing_robot2_goal =Node(package="tf2_ros",executable="static_transform_publisher",name="crossing_robot2_goal",arguments=["--frame-id","robot1","--child-frame-id","crossing_robot2_goal_frame","--y","-1.2","--x","0.0"])
   crossing_robot3_goal =Node(package="tf2_ros",executable="static_transform_publisher",name="crossing_robot3_goal",arguments=["--frame-id","robot1","--child-frame-id","crossing_robot3_goal_frame","--y","1.2","--x","0.0"])
   crossing_robot2_goal_front =Node(package="tf2_ros",executable="static_transform_publisher",name="straight_robot2_goal_front",arguments=["--frame-id","crossing_robot2_goal_frame","--child-frame-id","crossing_robot2_goal_front_frame","--x",LaunchConfiguration("L")])
   crossing_robot3_goal_front =Node(package="tf2_ros",executable="static_transform_publisher",name="straight_robot3_goal_front",arguments=["--frame-id","crossing_robot3_goal_frame","--child-frame-id","crossing_robot3_goal_front_frame","--x",LaunchConfiguration("L")])

   straight_robot2_goal =Node(package="tf2_ros",executable="static_transform_publisher",name="straight_robot2_goal",arguments=["--frame-id","robot1","--child-frame-id","straight_robot2_goal_frame","--x","-1.2","--y","0.0"])
   straight_robot3_goal =Node(package="tf2_ros",executable="static_transform_publisher",name="straight_robot3_goal",arguments=["--frame-id","robot1","--child-frame-id","straight_robot3_goal_frame","--x","-2.4","--y","0.0"])
   straight_robot2_goal_front =Node(package="tf2_ros",executable="static_transform_publisher",name="straight_robot2_goal_front",arguments=["--frame-id","straight_robot2_goal_frame","--child-frame-id","straight_robot2_goal_front_frame","--x",LaunchConfiguration("L")])
   straight_robot3_goal_front =Node(package="tf2_ros",executable="static_transform_publisher",name="straight_robot3_goal_front",arguments=["--frame-id","straight_robot3_goal_frame","--child-frame-id","straight_robot3_goal_front_frame","--x",LaunchConfiguration("L")])

   tri_robot2_goal =Node(package="tf2_ros",executable="static_transform_publisher",name="tri_robot2_goal",arguments=["--frame-id","robot1","--child-frame-id","tri_robot2_goal_frame","--x","-1.0","--y","-1.0"])
   tri_robot3_goal =Node(package="tf2_ros",executable="static_transform_publisher",name="tri_robot3_goal",arguments=["--frame-id","robot1","--child-frame-id","tri_robot3_goal_frame","--x","-1.0","--y","1.0"])
   tri_robot2_goal_front =Node(package="tf2_ros",executable="static_transform_publisher",name="tri_robot2_goal_front",arguments=["--frame-id","tri_robot2_goal_frame","--child-frame-id","tri_robot2_goal_front_frame","--x",LaunchConfiguration("L")])
   tri_robot3_goal_front =Node(package="tf2_ros",executable="static_transform_publisher",name="tri_robot3_goal_front",arguments=["--frame-id","tri_robot3_goal_frame","--child-frame-id","tri_robot3_goal_front_frame","--x",LaunchConfiguration("L")])

   tf_broadcaster = Node(package="formation_qt_ros2",executable="tf_broadcaster")
   tf_listener = Node(package="formation_qt_ros2",executable="tf_listener")
   
   return LaunchDescription([L,gui_service,robot_state_pub,joint_state_pub,start_gazebo_cmd,
                            g1,g2,g3,robot2_front,robot3_front,
                            crossing_robot2_goal,crossing_robot3_goal,crossing_robot2_goal_front,crossing_robot3_goal_front,
                            straight_robot2_goal,straight_robot3_goal,straight_robot2_goal_front,straight_robot3_goal_front,
                            tri_robot2_goal,tri_robot3_goal,tri_robot2_goal_front,tri_robot3_goal_front,
                            tf_broadcaster,tf_listener])

这是我使用的启动命令
ros2 launch gazebo_formation gazebo_formation_gui.launch.py \ use_sim_time:=true
36906369-8702-4c55-851d-93535847f211-截图 2023-04-18 17-51-00.png

在rviz里查看时只有一个机器人的坐标系，并且没有命名空间的前缀，并且在运行时还会报这样的错误

[tf_listener-23] [ERROR] [1681811595.820197319] [TFListener_node_cpp]: error:"world" passed to lookupTransform argument target_frame does not exist.

YoungRicky

@1132109242 tf错误解决了现在主要是多机器人的坐标系重名的问题未解决了，设置了命名空间不起作用

小鱼

@1132109242 应该就是namespace为生效造成的