第9章机器人仿真 入门篇 第3节

[849282206]

你好，我在学习第9章入门篇第3节，在 gazebo中加载机器人模型，第4部分，将启动gazebo和生产fishbot写成launch文件。直接复制了你的代码，编译完成后，运行，报错，显示 "gazebo_world_path"没有定义。请问怎么解决？

复制的gazebo.launch.py代码如下：

import os
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare


def generate_launch_description():
    robot_name_in_model = 'fishbot'
    package_name = 'fishbot_description'
    urdf_name = "fishbot_gazebo.urdf"

    ld = LaunchDescription()
    pkg_share = FindPackageShare(package=package_name).find(package_name) 
    urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')

    # Start Gazebo server
    start_gazebo_cmd =  ExecuteProcess(
        cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so',gazebo_world_path],
        output='screen')

    # Launch the robot
    spawn_entity_cmd = Node(
        package='gazebo_ros', 
        executable='spawn_entity.py',
        arguments=['-entity', robot_name_in_model,  '-file', urdf_model_path ], output='screen')

    ld.add_action(start_gazebo_cmd)
    ld.add_action(spawn_entity_cmd)


    return ld

[小鱼]

@849282206 在 第9章机器人仿真 入门篇 第3节 中说：

cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so',gazebo_world_path],

删掉这句话中的 ,gazebo_world_path

[2357394838]

@小鱼 请问下为什么删除掉就可以了呢，大佬能讲一下原理吗