Ailibot2仿真入门教程-gazebo-加载gazebo场景

文章说明

• 本教程主要介绍如何在gazebo上加载Gazebo场景
• 测试环境：Ubuntu 20.04 + Gazebo11

操作步骤

• 上篇文章中，我们制作了一个简单的场景，现在加载Gazebo场景
• 进入到ailibot2_gazebo/launch文件夹下，新建test_world.launch.py

import os
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.conditions import IfCondition, UnlessCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import Command, LaunchConfiguration, PythonExpression
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare

def generate_launch_description():

  # Set the path to the Gazebo ROS package
  pkg_gazebo_ros = FindPackageShare(package='gazebo_ros').find('gazebo_ros')   
  
  # Set the path to this package.
  pkg_share = FindPackageShare(package='ailibot2_gazebo').find('ailibot2_gazebo')

  # Set the path to the world file
  world_file_name = 'test.world'
  world_path = os.path.join(pkg_share, 'worlds', world_file_name)
  
  # Set the path to the SDF model files.
  gazebo_models_path = os.path.join(pkg_share, 'models')
  os.environ["GAZEBO_MODEL_PATH"] = gazebo_models_path

  ########### YOU DO NOT NEED TO CHANGE ANYTHING BELOW THIS LINE ##############  
  # Launch configuration variables specific to simulation
  headless = LaunchConfiguration('headless')
  use_sim_time = LaunchConfiguration('use_sim_time')
  use_simulator = LaunchConfiguration('use_simulator')
  world = LaunchConfiguration('world')

  declare_simulator_cmd = DeclareLaunchArgument(
    name='headless',
    default_value='False',
    description='Whether to execute gzclient')
    
  declare_use_sim_time_cmd = DeclareLaunchArgument(
    name='use_sim_time',
    default_value='true',
    description='Use simulation (Gazebo) clock if true')

  declare_use_simulator_cmd = DeclareLaunchArgument(
    name='use_simulator',
    default_value='True',
    description='Whether to start the simulator')

  declare_world_cmd = DeclareLaunchArgument(
    name='world',
    default_value=world_path,
    description='Full path to the world model file to load')
   
  # Specify the actions
  
  # Start Gazebo server
  start_gazebo_server_cmd = IncludeLaunchDescription(
    PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzserver.launch.py')),
    condition=IfCondition(use_simulator),
    launch_arguments={'world': world}.items())

  # Start Gazebo client    
  start_gazebo_client_cmd = IncludeLaunchDescription(
    PythonLaunchDescriptionSource(os.path.join(pkg_gazebo_ros, 'launch', 'gzclient.launch.py')),
    condition=IfCondition(PythonExpression([use_simulator, ' and not ', headless])))

  # Create the launch description and populate
  ld = LaunchDescription()

  # Declare the launch options
  ld.add_action(declare_simulator_cmd)
  ld.add_action(declare_use_sim_time_cmd)
  ld.add_action(declare_use_simulator_cmd)
  ld.add_action(declare_world_cmd)

  # Add any actions
  ld.add_action(start_gazebo_server_cmd)
  ld.add_action(start_gazebo_client_cmd)

  return ld

• 编译

$ ~/cd ros2_ailibot2_sim_ws
$ colcon build --symlink-install

• 启动加载Gazebo场景同时加载机器人模型

$ ros2 launch ailibot2_gazebo test_world.launch.py

• 效果图如下