基于Gazebo的ROS2多机器人仿真

ROS2环境下如何在Gazebo环境下加载多台机器人可以分为以下三个步骤:第一,机器人模型配置;第二,设置命名空间;第三,运行验证

1.器人模型配置

robot1:

<!-- Gazebo plugin for mobile base -->
<gazebo>
  <plugin name="base_controller" filename="libgazebo_ros_planar_move.so">
    <ros>
      <!-- <namespace>/wpb</namespace> -->
      <namespace>robot1</namespace>
      <remapping>cmd_vel:=cmd_vel</remapping>
      <remapping>odom:=odom</remapping>
    </ros>
    <!-- Set control loop update rate -->
    <update_rate>100</update_rate>
    <!-- Set odom publish rate -->
    <publish_rate>20</publish_rate>
    <!-- Set if odom required -->
    <publish_odom>true</publish_odom>
    <publish_odom_tf>false</publish_odom_tf>
    <!-- Frame IDs -->
    <odometry_frame>robot1/odom</odometry_frame>
    <robot_base_frame>robot1/base_footprint</robot_base_frame>

    <tf_prefix>robot1</tf_prefix>
    <!-- Set odom covariance -->
    <covariance_x>0.0001</covariance_x>
    <covariance_y>0.0001</covariance_y>
    <covariance_yaw>0.01</covariance_yaw>
    <ros>
    <remapping>tf:=tf</remapping>
    <remapping>tf_static:=tf_static</remapping>
  </ros>
  </plugin>
</gazebo> 

robot2:

<!-- Gazebo plugin for mobile base -->
<gazebo>
  <plugin name="base_controller" filename="libgazebo_ros_planar_move.so">
    <ros>
      <!-- <namespace>/wpb</namespace> -->
      <namespace>robot2</namespace>
      <remapping>cmd_vel:=cmd_vel</remapping>
      <remapping>odom:=odom</remapping>
    </ros>
    <!-- Set control loop update rate -->
    <update_rate>100</update_rate>
    <!-- Set odom publish rate -->
    <publish_rate>20</publish_rate>
    <!-- Set if odom required -->
    <publish_odom>true</publish_odom>
    <publish_odom_tf>false</publish_odom_tf>
    <!-- Frame IDs -->
    <odometry_frame>robot2/odom</odometry_frame>
    <robot_base_frame>robot2/base_footprint</robot_base_frame>

    <tf_prefix>robot2</tf_prefix>
    <!