gazebo中显示多个机器人模型

[benz]

请问我在gazebo.launch文件中修改了一个机器人模型，但是命名空间是不起作用还是咋了
一直停留在[robot3.spawn_entity]：Waiting for entity xml on robot1/robot_description不显示机器人模型
具体launch修改代码如下：
import launch
import launch_ros
from ament_index_python.packages import get_package_share_directory
import os
import launch_ros.parameter_descriptions
import launch.launch_description_sources
def generate_launch_description():
# 获取功能包的share路径
urdf_package_path = get_package_share_directory('fishbot_description')
default_xacro_path = os.path.join(urdf_package_path, 'urdf', 'fishbot', 'fishbot.urdf.xacro')
default_gazebo_world_path = os.path.join(urdf_package_path, 'world', 'custom_room.world')

# 声明一个urdf目录参数，方便修改
action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
    name='model', default_value=str(default_xacro_path), description='加载的模型文件路径'
)

# 处理三个机器人的URDF
robot1_desc = launch.substitutions.Command(['xacro ', default_xacro_path, ' prefix:=robot1/'])
robot2_desc = launch.substitutions.Command(['xacro ', default_xacro_path, ' prefix:=robot2/'])
robot3_desc = launch.substitutions.Command(['xacro ', default_xacro_path, ' prefix:=robot3/'])

# 第一个机器人状态发布器
robot1_state_publisher = launch_ros.actions.Node(
    package='robot_state_publisher',
    executable='robot_state_publisher',
    namespace='robot1',
    parameters=[{
        'robot_description': launch_ros.parameter_descriptions.ParameterValue(robot1_desc, value_type=str),
        'frame_prefix': 'robot1/'
    }],
)

# 第二个机器人状态发布器
robot2_state_publisher = launch_ros.actions.Node(
    package='robot_state_publisher',
    executable='robot_state_publisher',
    namespace='robot2',
    parameters=[{
        'robot_description': launch_ros.parameter_descriptions.ParameterValue(robot2_desc, value_type=str),
        'frame_prefix': 'robot2/'
    }],
)

# 第三个机器人状态发布器
robot3_state_publisher = launch_ros.actions.Node(
    package='robot_state_publisher',
    executable='robot_state_publisher',
    namespace='robot3',
    parameters=[{
        'robot_description': launch_ros.parameter_descriptions.ParameterValue(robot3_desc, value_type=str),
        'frame_prefix': 'robot3/'
    }],
)

# 启动 Gazebo 仿真环境
action_launch_gazebo = launch.actions.IncludeLaunchDescription(
    launch.launch_description_sources.PythonLaunchDescriptionSource(
        os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')
    ),
    launch_arguments=[('world', default_gazebo_world_path), ('verbose', 'true')]
)

# 将机器人1加载到 Gazebo
action_spawn_robot1 = launch_ros.actions.Node(
    package='gazebo_ros',
    executable='spawn_entity.py',
    namespace='robot1',
    arguments=[
        '-topic', 'robot1/robot_description',
        '-entity', 'robot1',
        '-x', '0.4',
        '-y', '0',
        '-z', '0'
    ],
    output='screen'
)

# 将机器人2加载到 Gazebo
action_spawn_robot2 = launch_ros.actions.Node(
    package='gazebo_ros',
    executable='spawn_entity.py',
    namespace='robot2',
    arguments=[
        '-topic', 'robot2/robot_description',
        '-entity', 'robot2',
        '-x', '-0.4',
        '-y', '0',
        '-z', '0'
    ],
    output='screen'
)

# 将机器人3加载到 Gazebo
action_spawn_robot3 = launch_ros.actions.Node(
    package='gazebo_ros',
    executable='spawn_entity.py',
    namespace='robot3',
    arguments=[
        '-topic', 'robot3/robot_description',
        '-entity', 'robot3',
        '-x', '0',
        '-y', '0',
        '-z', '0'
    ],
    output='screen'
)

return launch.LaunchDescription([
    action_declare_arg_mode_path,
    robot1_state_publisher,
    robot2_state_publisher,
    robot3_state_publisher,
    action_launch_gazebo,
    action_spawn_robot1,
    action_spawn_robot2,
    action_spawn_robot3
])

[benz]

我是想在gazebo中显示三个机器人模型，fishbot可以显示，但是三个就显示不了

[benz]

@小鱼我这样做机器人模型xacro还需要更改嘛？