运行launch文件检测不到发布的odom话题，以下是launch文件的内容：
<?xml version="1.0"?>
<launch>
<!--
Main entry point for loading a single UR5 into Gazebo, in isolation, in the
empty world.
A set of ros_control controllers similar to those loaded by ur_robot_driver
will be loaded by 'ur_control.launch.xml' (note: *similar*, *not*
identical).
This bringup .launch file is intentionally given the same
name as the one in
the ur_robot_driver package, as it fulfills a similar role: loading the
configuration and starting the necessary ROS nodes which in the end prov
ide
a ROS API to a Universal Robots UR5. Only in this case, instead of a real
robot, a virtual model in Gazebo is used.
NOTE 1: as this is not a real robot, there are limits to the faithfulness
of the simulation. Dynamic behaviour will be different from a real robot.
Only a subset of topics, actions and services is supported. Specifically,
interaction with the Control Box itself is not supported, as Gazebo does not
simulate a Control Box. This means: no Dashboard server, no URScript topic
and no force-torque sensor among other things.
NOTE 2: users wishing to integrate a UR5 with other models into a more
complex simulation should NOT modify this file. Instead, if it would be
desirable to reuse this file with a custom simulation, they should create a
copy and update this copy so as to accomodate required changes.
In those cases, treat this file as an example, showing one way how a Gazebo
simulation for UR robots *could* be launched. It is not necessary to mimic
this setup completely.
-->
<!--Robot description and related parameter files -->
<arg
name="robot_description_file" default="$(dir
name)/inc/load_ur5.launch.xml" doc="Launch file which populates the 'robot_description' parameter."/>
<arg
name="joint_limit_params" default="$(find ur_description)/config/ur5/joint_limits.yaml"/>
<arg
name="kinematics_params" default="$(find ur_description)/config/ur5/default_kinematics.yaml"/>
<arg
name="physical_params" default="$(find ur_description)/config/ur5/physical_parameters.yaml"/>
<arg
name="visual_params" default="$(find ur_description)/config/ur5/visual_parameters.yaml"/>
<arg
name="transmission_hw_interface" default="hardware_interface/EffortJointInterface" doc="The hardware_interface to expose for each joint in the simulated robot (one of: [hardware_interface/PositionJointInterface, hardware_interface/VelocityJointInterface, hardware_interface/EffortJointInterface])"/>
<!-- Controller configuration -->
<arg
name="controller_config_file" default="$(find ur_gazebo)/config/ur5_controllers.yaml" doc="Config file used for defining the ROS-Control controllers."/>
<arg
name="controllers" default="joint_state_controller left_wheel_velocity_controller right_wheel_velocity_controller eff_joint_traj_controller" doc="Controllers that are activated by default."/>
<arg
name="stopped_controllers" default="joint_group_eff_controller" doc="Controllers that are initally loaded, but not started."/>
<!-- robot_state_publisher configuration -->
<arg
name="tf_prefix" default="" doc="tf_prefix used for the robot."/>
<arg
name="tf_pub_rate" default="125" doc="Rate at which robot_state_publisher should publish transforms."/>
<!-- Gazebo parameters -->
<arg
name="paused" default="false" doc="Starts Gazebo in paused mode" />
<arg
name="gui" default="true" doc="Starts Gazebo gui" />
<!-- Load urdf on the parameter server -->
<include file="$(arg robot_description_file)">
<arg
name="joint_limit_params" value="$(arg joint_limit_params)"/>
<arg
name="kinematics_params" value="$(arg kinematics_params)"/>
<arg
name="physical_params" value="$(arg physical_params)"/>
<arg
name="visual_params" value="$(arg visual_params)"/>
<arg
name="transmission_hw_interface" value="$(arg transmission_hw_interface)"/>
</include>
<!-- 先加载 P
ID gains -->
<rosparam file="$(find urdf02_gazebo)/config/gazebo_ros_control_params.yaml" command="load"/>
<!-- Robot state publisher -->
<node pkg="robot_state_publisher" type="robot_state_publisher"
name="robot_state_publisher">
<param
name="publish_frequency" type="double" value="$(arg tf_pub_rate)" />
<param
name="tf_prefix" value="$(arg tf_prefix)" />
<param
name="delta_t" value="0.02"/> <!-- 20ms偏移 -->
</node>
<!-- Start the 'driver' (
ie: Gazebo in this case) -->
<include file="$(dir
name)/inc/ur_control.launch.xml">
<arg
name="controller_config_file" value="$(arg controller_config_file)"/>
<arg
name="controllers" value="$(arg controllers)"/>
<arg
name="gui" value="$(arg gui)"/>
<arg
name="paused" value="$(arg paused)"/>
<arg
name="stopped_controllers" value="$(arg stopped_controllers)"/>
</include>
</launch>
以下是涉及odom的文件：
<robot
name="my_car_move" xmlns:xacro="http://wiki.ros.org/xacro">
<xacro:macro
name="joint_trans" params="joint_
name">
<transmission
name="${joint_
name}_trans">
<type>transmission_interface/SimpleTransmission</type>
<joint
name="${joint_
name}">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
</joint>
<actuator
name="${joint_
name}_motor">
<hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface>
<mechanicalReduction>1</mechanicalReduction>
</actuator>
</transmission>
</xacro:macro>
<xacro:joint_trans joint_
name="left_wheel2base_link" />
<xacro:joint_trans joint_
name="right_wheel2base_link" />
<xacro:joint_trans joint_
name="front_wheel2base_link" />
<xacro:joint_trans joint_
name="back_wheel2base_link" />
<gazebo>
<plugin
name="differential_drive_controller" file
name="libgazebo_ros_diff_drive.so">
<rosDebugLevel>Debug</rosDebugLevel>
<publishWheelTF>false</publishWheelTF>
<robot
Namespace>/</robot
Namespace>
<publishTf>0</publishTf>
<publishWheelJointState>false</publishWheelJointState>
<alwaysOn>true</alwaysOn>
<updateRate>100.0</updateRate>
<legacyMode>true</legacyMode>
<leftJoint>left_wheel2base_link</leftJoint> <!-- 左轮 -->
<rightJoint>right_wheel2base_link</rightJoint> <!-- 右轮 -->
<wheelSeparation>${base_link_radius * 2}</wheelSeparation> <!-- 车轮间距 -->
<wheelDiameter>${wheel_radius * 2}</wheelDiameter> <!-- 车轮直径 -->
<broadcastTF></broadcastTF>
<wheelTorque>30</wheelTorque>
<wheelAcceleration>1.8</wheelAcceleration>
<commandTopic>cmd_vel</commandTopic> <!-- 运动控制话题 -->
<odometryFrame>odom</odometryFrame>
<odometryTopic>odom</odometryTopic> <!-- 里程计话题 -->
<robotBaseFrame>base_footprint</robotBaseFrame> <!-- 根坐标系 -->
</plugin>
</gazebo>
</robot>
请基于上述代码，提供解决方案
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