<launch>
<!
-- We resume the logic in empty_world.launch, changing only the name of the world to be launched
-->
<include file="$
(find gazebo_
ros)/launch/empty_world.launch">
<arg name="world_name" value="$
(find wpr_simulation
)/worlds/robocup_home.world"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="true"/>
<arg name="recording" value="false"/>
<arg name="debug" value="false"/>
</include>
<!
-- Spawn the objects into Gazebo
-->
<node name="bed" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/bed.
model
-x 5.0
-y
-3.9
-z 0
-Y 3.14159
-urdf -model bed" />
<node name="sofa" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/sofa.
model
-x
-1.0
-y
-3.9
-z 0
-Y 1.57
-urdf -model sofa" />
<node name="tea_table" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/tea_table.
model
-x
-2.1
-y
-2.2
-z 0
-Y 1.57
-urdf -model tea_table" />
<node name="bookshelft" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/bookshelft.
model
-x 2.0
-y
-0.55
-z 0
-Y
-1.57
-urdf -model bookshelft" />
<node name="kitchen_table" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/table.
model
-x
-3.5
-y 3.7
-z 0
-Y 1.57
-urdf -model kitchen_table" />
<node name="cupboard_0" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/cupboard.
model
-x
-2.0
-y 0.7
-z 0
-Y 1.57
-urdf -model cupboard_0" />
<node name="cupboard_1" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/cupboard.
model
-x
-1.3
-y 3.7
-z 0
-Y
-1.57
-urdf -model cupboard_1" />
<node name="dinning_table_0" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/table.
model
-x 1.5
-y 1.5
-z 0
-Y 1.57
-urdf -model dinning_table_0" />
<node name="dinning_table_1" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/table.
model
-x 1.5
-y 2.0
-z 0
-Y 1.57
-urdf -model dinning_table_1" />
<node name="dinning_table_2" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/table.
model
-x 2.7
-y 1.5
-z 0
-Y 1.57
-urdf -model dinning_table_2" />
<node name="dinning_table_3" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/table.
model
-x 2.7
-y 2.0
-z 0
-Y 1.57
-urdf -model dinning_table_3" />
<node name="chair_0" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/chair.
model
-x 1.5
-y 1.2
-z 0
-Y 1.57
-urdf -model chair_0" />
<node name="chair_1" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/chair.
model
-x 1.5
-y 2.3
-z 0
-Y
-1.57
-urdf -model chair_1" />
<node name="chair_2" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/chair.
model
-x 2.7
-y 1.2
-z 0
-Y 1.57
-urdf -model chair_2" />
<node name="chair_3" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/chair.
model
-x 2.7
-y 2.3
-z 0
-Y
-1.57
-urdf -model chair_3" />
<!
-- Spawn a robot into Gazebo
-->
<node name="spawn_
urdf_robot1" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/wpb_home.
model
-urdf -x
-6.0
-y
-0.5
-model wpb_home" />
<node name="spawn_
urdf_robot2" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/wpb_home.
model
-urdf -x 6.0
-y
-0.5
-model wpb_home" />
<node name="spawn_
urdf_robot3" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/wpb_home.
model
-urdf -x 0.0
-y 0.0
-model wpb_home" />
<!
-- Run the map server
-->
<node name="map_server" pkg="map_server" type="map_server" args="$
(find wpr_simulation
)/maps/map.yaml"/>
<!
--- Run AMCL
-->
<include file="$
(find wpb_home_tutorials
)/nav_lidar/amcl_omni.launch" />
<!
--- Run move base
-->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<
rosparam file="$
(find wpb_home_tutorials
)/nav_lidar/costmap_common_params.yaml" command="load" ns="global_costmap" />
<
rosparam file="$
(find wpb_home_tutorials
)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" />
<
rosparam file="$
(find wpb_home_tutorials
)/nav_lidar/local_costmap_params.yaml" command="load" />
<
rosparam file="$
(find wpb_home_tutorials
)/nav_lidar/global_costmap_params.yaml" command="load" />
<
rosparam file="$
(find wpb_home_tutorials
)/nav_lidar/local_planner_params.yaml" command="load" />
<param name="base_global_planner" v<launch>
<!
-- We resume the logic in empty_world.launch, changing only the name of the world to be launched
-->
<include file="$
(find gazebo_
ros)/launch/empty_world.launch">
<arg name="world_name" value="$
(find wpr_simulation
)/worlds/robocup_home.world"/>
<arg name="paused" value="false"/>
<arg name="use_sim_time" value="true"/>
<arg name="gui" value="true"/>
<arg name="recording" value="false"/>
<arg name="debug" value="false"/>
</include>
<!
-- Spawn the objects into Gazebo
-->
<node name="bed" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/bed.
model
-x 5.0
-y
-3.9
-z 0
-Y 3.14159
-urdf -model bed" />
<node name="sofa" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/sofa.
model
-x
-1.0
-y
-3.9
-z 0
-Y 1.57
-urdf -model sofa" />
<node name="tea_table" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/tea_table.
model
-x
-2.1
-y
-2.2
-z 0
-Y 1.57
-urdf -model tea_table" />
<node name="bookshelft" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/bookshelft.
model
-x 2.0
-y
-0.55
-z 0
-Y
-1.57
-urdf -model bookshelft" />
<node name="kitchen_table" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/table.
model
-x
-3.5
-y 3.7
-z 0
-Y 1.57
-urdf -model kitchen_table" />
<node name="cupboard_0" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/cupboard.
model
-x
-2.0
-y 0.7
-z 0
-Y 1.57
-urdf -model cupboard_0" />
<node name="cupboard_1" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/cupboard.
model
-x
-1.3
-y 3.7
-z 0
-Y
-1.57
-urdf -model cupboard_1" />
<node name="dinning_table_0" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/table.
model
-x 1.5
-y 1.5
-z 0
-Y 1.57
-urdf -model dinning_table_0" />
<node name="dinning_table_1" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/table.
model
-x 1.5
-y 2.0
-z 0
-Y 1.57
-urdf -model dinning_table_1" />
<node name="dinning_table_2" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/table.
model
-x 2.7
-y 1.5
-z 0
-Y 1.57
-urdf -model dinning_table_2" />
<node name="dinning_table_3" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/table.
model
-x 2.7
-y 2.0
-z 0
-Y 1.57
-urdf -model dinning_table_3" />
<node name="chair_0" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/chair.
model
-x 1.5
-y 1.2
-z 0
-Y 1.57
-urdf -model chair_0" />
<node name="chair_1" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/chair.
model
-x 1.5
-y 2.3
-z 0
-Y
-1.57
-urdf -model chair_1" />
<node name="chair_2" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/chair.
model
-x 2.7
-y 1.2
-z 0
-Y 1.57
-urdf -model chair_2" />
<node name="chair_3" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/chair.
model
-x 2.7
-y 2.3
-z 0
-Y
-1.57
-urdf -model chair_3" />
<!
-- Spawn a robot into Gazebo
-->
<node name="spawn_
urdf_robot1" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/wpb_home.
model
-urdf -x
-6.0
-y
-0.5
-model wpb_home" />
<node name="spawn_
urdf_robot2" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/wpb_home.
model
-urdf -x 6.0
-y
-0.5
-model wpb_home" />
<node name="spawn_
urdf_robot3" pkg="gazebo_
ros" type="spawn_
model" args="
-file $
(find wpr_simulation
)/
models/wpb_home.
model
-urdf -x 0.0
-y 0.0
-model wpb_home" />
<!
-- Run the map server
-->
<node name="map_server" pkg="map_server" type="map_server" args="$
(find wpr_simulation
)/maps/map.yaml"/>
<!
--- Run AMCL
-->
<include file="$
(find wpb_home_tutorials
)/nav_lidar/amcl_omni.launch" />
<!
--- Run move base
-->
<node pkg="move_base" type="move_base" respawn="false" name="move_base" output="screen">
<
rosparam file="$
(find wpb_home_tutorials
)/nav_lidar/costmap_common_params.yaml" command="load" ns="global_costmap" />
<
rosparam file="$
(find wpb_home_tutorials
)/nav_lidar/costmap_common_params.yaml" command="load" ns="local_costmap" />
<
rosparam file="$
(find wpb_home_tutorials
)/nav_lidar/local_costmap_params.yaml" command="load" />
<
rosparam file="$
(find wpb_home_tutorials
)/nav_lidar/global_costmap_params.yaml" command="load" />
<
rosparam file="$
(find wpb_home_tutorials
)/nav_lidar/local_planner_params.yaml" command="load" />
<param name="base_global_planner" alue="global_planner/GlobalPlanner" />
<param name="use_dijkstra" value="true"/>
<param name="base_local_planner" value="wpbh_local_planner/WpbhLocalPlanner" />
<param name= "controller_frequency" value="10" type="double"/>
</node>
<!
-- RViz and TF tree
-->
<arg name="
model" default="$
(find wpb_home_bringup
)/
urdf/wpb_home.
urdf"/>
<arg name="gui" default="false" />
<arg name="rvizconfig" default="$
(find wpr_simulation
)/rviz/nav.rviz" />
<param name="robot_description" command="$
(find xacro
)/xacro $
(arg
model
)" />
<param name="use_gui" value="$
(arg gui
)"/>
<node name="robot_
state_publisher" pkg="robot_
state_publisher" type="robot_
state_publisher"/>
<node name="joint_
state_publisher" pkg="joint_
state_publisher" type="joint_
state_publisher" >
<
rosparam command="load" file="$
(find wpb_home_bringup
)/config/wpb_home.yaml" />
</node>
<node name="rviz" pkg="rviz" type="rviz" args="
-d $
(arg rvizconfig
)" required="true" />
</launch>将这个launch文件修改为适配多
机器人导航
本文介绍了一个用于描述机器人模型状态的XML元素，包括关节位置、速度和力矩等关键信息，适用于仿真环境中对URDF模型进行状态配置。
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