Gazebo 启动时候配置物体

1. 准备模型

mkdir -p ~/.gazebo/models/table
echo 'export GAZEBO_MODEL_PATH=$HOME/.gazebo/models:$GAZEBO_MODEL_PATH' >> ~/.bashrc
source ~/.bashrc
# 从https://github.com/osrf/gazebo_models下载模型
# 桌子
cd ~/.gazebo/models/table
wget https://raw.githubusercontent.com/osrf/gazebo_models/master/table/model.sdf
wget https://raw.githubusercontent.com/osrf/gazebo_models/master/table/model.config

2. 通过world文件（方案一）

2.1 创建新world文件

cd ~/suo/ur_gazebo/install/ur_simulation_gazebo/share/ur_simulation_gazebo
mkdir worlds
cd worlds
touch compo.world
# 写入下面内容
	<?xml version="1.0"?>
	<sdf version="1.6">
	  <world name="default">
	    <!-- 原始UR5模型（由ur_sim_control.launch.py自动加载） -->
	    
	    <!-- 新增桌子模型 -->
	    <include>
	      <uri>model://table</uri>
	      <pose>1.5 0 0 0 0 0</pose>
	    </include>
	  </world>
	</sdf>

2.2. 修改启动文件

# 启动文件
/home/suoxd/suo/ur_gazebo/src/Universal_Robots_ROS2_Gazebo_Simulation/ur_simulation_gazebo/launch/ur_sim_control.launch.py
gazebo = IncludeLaunchDescription(
    PythonLaunchDescriptionSource(
        [FindPackageShare("gazebo_ros"), "/launch", "/gazebo.launch.py"]
    ),
    launch_arguments={
        "gui": gazebo_gui,
        "world": PathJoinSubstitution([
            FindPackageShare('ur_simulation_gazebo'), 
            'worlds', 
            'compo.world'  # 新增的世界文件
        ])
    }.items(),
)

2.3 手动拷贝world文件

在ROS 2中，安装非代码文件（如worlds、models、launch文件等）需要使用install(DIRECTORY …)命令。例如，安装launch文件时，可能会有类似install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})的指令。用户需要在CMakeLists.txt中添加类似的命令来安装worlds目录。或者，可以手动将worlds文件从src目录拷贝到install目录。

2.4 编译拷贝

修改ur_simulation_gazebo/CMakeLists.txt，增加对worlds目录的编译

install(
  DIRECTORY worlds/
  DESTINATION share/${PROJECT_NAME}/worlds
  FILES_MATCHING
  PATTERN "*.world"
)

重新编译项目
colcon build --packages-select ur_simulation_gazebo --cmake-force-configure

3. 通过节点（方案二）

# 启动文件
/home/suoxd/suo/ur_gazebo/src/Universal_Robots_ROS2_Gazebo_Simulation/ur_simulation_gazebo/launch/ur_sim_control.launch.py
    # 新建桌子节点
    spawn_table = Node(
        package='gazebo_ros',
        executable='spawn_entity.py',
        arguments=[
            '-entity', 'table', 
            '-x', '1.5', '-y', '0', '-z', '0',
            '-database', 'table'
        ],
        output='screen'
    )

    nodes_to_start = [
        robot_state_publisher_node,
        joint_state_broadcaster_spawner,
        delay_rviz_after_joint_state_broadcaster_spawner,
        initial_joint_controller_spawner_stopped,
        initial_joint_controller_spawner_started,
        gazebo,
        gazebo_spawn_robot,
        spawn_table,  #新增节点
    ]

4. 仿真启动

ros2 launch ur_simulation_gazebo ur_sim_control.launch.py ur_type:=ur5 launch_rviz:=false