gazebo multi_robot

最新推荐文章于 2025-04-23 07:17:08 发布

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本文详细解析了multirobot_laser_nav.launch文件的配置方法，包括如何为两个机器人robot1和robot2设置robot_description参数，运行joint_state_publisher、robot_state_publisher和urdf_spawner节点，以及调整发布频率等关键步骤。

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multirobot_laser_nav.launch

	<group ns="robot1">
        <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find myrobot_gazebo)/urdf/myrobot_with_rplidar.urdf.xacro' ns:=robot1" /> 
    	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> 
   	    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
            <param name="publish_frequency" type="double" value="50.0" />
        </node>
        <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
            args="-urdf -model robot1 -param robot_description -x 0"/>   
    </group>

    <group ns="robot2">
        <param name="robot_description" command="$(find xacro)/xacro --inorder '$(find myrobot_gazebo)/urdf/myrobot_with_rplidar.urdf.xacro' ns:=robot2" /> 
    	<node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node> 
   	    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher"  output="screen" >
            <param name="publish_frequency" type="double" value="50.0" />
        </node>
        <node name="urdf_spawner" pkg="gazebo_ros" type="spawn_model" respawn="false" output="screen"
            args="-urdf -model robot2 -param robot_description -x 2"/>   
    </group>

myrobot_body.urdf.xcro

<robotNamespace>/</robotNamespace>
修改为：
<robotNamespace></robotNamespace>

myrobot_teleop.py

pub = rospy.Publisher('/cmd_vel', Twist, queue_size=5)
修改为：
pub = rospy.Publisher('cmd_vel', Twist, queue_size=5)