add agv_pro_gazebo

agv_pro_gazebo/launch/agv_pro.launch.py

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+import os
+ 
+from ament_index_python.packages import get_package_share_directory
+ 
+from launch import LaunchDescription
+from launch.substitutions import LaunchConfiguration
+from launch.actions import DeclareLaunchArgument
+from launch_ros.actions import Node
+ 
+import xacro
+ 
+ 
+def generate_launch_description():
+ 
+    # Check if we're told to use sim time
+    use_sim_time = LaunchConfiguration('use_sim_time')
+ 
+    # Process the URDF file
+    pkg_path = os.path.join(get_package_share_directory('agv_pro_description'))
+    xacro_file = os.path.join(pkg_path,'urdf','agv_pro.xacro')
+    robot_description_config = xacro.process_file(xacro_file)
+    
+    # Create a robot_state_publisher node
+    params = {'robot_description': robot_description_config.toxml(), 'use_sim_time': use_sim_time}
+    node_robot_state_publisher = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        output='screen',
+        parameters=[params]
+    )
+ 
+ 
+    # Launch!
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='false',
+            description='Use sim time if true'),
+ 
+        node_robot_state_publisher
+    ])

agv_pro_gazebo/launch/agv_pro_display.launch.py

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+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+from launch.conditions import IfCondition
+from launch.substitutions import LaunchConfiguration
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+
+    use_rviz = LaunchConfiguration('use_rviz', default='true')
+
+    rviz_config_dir = os.path.join(
+        get_package_share_directory('agv_pro_description'),
+        'rviz',
+        'agvpro_display.rviz')
+
+    urdf_file = os.path.join(
+        get_package_share_directory('agv_pro_description'),
+        'urdf',
+        'agv_pro.urdf'
+    )
+
+    with open(urdf_file, 'r') as file:
+        robot_description_content = file.read()
+
+    return LaunchDescription([
+
+        Node(
+            package='joint_state_publisher',
+            executable='joint_state_publisher',
+            name='joint_state_publisher'
+        ),
+
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            parameters=[{'robot_description': robot_description_content}]
+        ),
+        
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            arguments=['-d', rviz_config_dir],
+            condition=IfCondition(use_rviz),
+            output='screen')
+
+    ])

agv_pro_gazebo/launch/agv_pro_gazebo.launch.py

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+import os
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import Command
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    pkg_name = 'agv_pro_description'
+    pkg_dir = get_package_share_directory(pkg_name)
+
+    xacro_file = os.path.join(pkg_dir, 'urdf', 'agv_pro.xacro')
+    world_file = os.path.join(pkg_dir, 'worlds', 'empty.world')
+    rviz_config = os.path.join(pkg_dir, 'rviz', 'agvpro_display.rviz')
+
+    robot_description_content = ParameterValue(
+        Command(['xacro ', xacro_file]),
+        value_type=str
+    )
+    robot_description = {'robot_description': robot_description_content}
+
+    return LaunchDescription([
+        # Launch Gazebo
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')
+            ),
+            launch_arguments={'world': world_file}.items()
+        ),
+
+        # Spawn robot into Gazebo
+        Node(
+            package='gazebo_ros',
+            executable='spawn_entity.py',
+            arguments=['-topic', 'robot_description',
+                       '-entity', 'agv_pro'],
+            output='screen'
+        ),
+
+        # State publisher
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            parameters=[robot_description]
+        ),
+
+        Node(
+            package='joint_state_publisher',
+            executable='joint_state_publisher',
+            name='joint_state_publisher',
+            output='screen',
+        ),
+
+        # Optional: RViz
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            output='screen',
+            arguments=['-d', rviz_config],
+        ),
+    ])

agv_pro_gazebo/launch/agv_pro_gazebo.launchcopy.py

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+import os
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, ExecuteProcess
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import Command, LaunchConfiguration, PathJoinSubstitution
+from launch_ros.actions import Node
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    pkg_name = 'agv_pro_description'
+
+    # Paths
+    pkg_dir = get_package_share_directory(pkg_name)
+    xacro_file = os.path.join(pkg_dir, 'urdf', 'agv_pro.xacro')
+    world_file = os.path.join(pkg_dir, 'worlds', 'empty.world')  # 创建一个空 world 即可
+    rviz_config = os.path.join(pkg_dir, 'rviz', 'agvpro_display.rviz')
+
+    robot_description_content = Command(['xacro ', xacro_file])
+    robot_description = {'robot_description': robot_description_content}
+
+    return LaunchDescription([
+
+        # Start Gazebo with empty world
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                [os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')]
+            ),
+            launch_arguments={'world': world_file}.items()
+        ),
+
+        # Spawn robot into Gazebo
+        Node(
+            package='gazebo_ros',
+            executable='spawn_entity.py',
+            arguments=['-topic', 'robot_description',
+                       '-entity', 'agv_pro'],
+            output='screen'
+        ),
+
+        # Robot state publisher
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            name='robot_state_publisher',
+            output='screen',
+            parameters=[robot_description]
+        ),
+
+        # Optionally publish joint states if not using controllers
+        Node(
+            package='joint_state_publisher',
+            executable='joint_state_publisher',
+            name='joint_state_publisher',
+            output='screen',
+        ),
+        Node(
+            package='controller_manager',
+            executable='spawner',
+            arguments=['joint_state_broadcaster'],
+            output='screen',
+        ),
+
+        # RViz (optional, visualize TF & model)
+        Node(
+            package='rviz2',
+            executable='rviz2',
+            name='rviz2',
+            output='screen',
+            arguments=['-d', rviz_config],
+        ),
+    ]) 

agv_pro_gazebo/launch/teleop_launch.py

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+import os
+from launch import LaunchDescription
+from launch_ros.actions import Node
+
+def generate_launch_description():
+    return LaunchDescription([
+        Node(
+            package='teleop_twist_keyboard',
+            executable='teleop_twist_keyboard',
+            name='teleop_keyboard',
+            output='screen',
+            prefix='xterm -e',  # 或 'gnome-terminal --' 替换为你的终端命令
+            remappings=[
+                ('/cmd_vel', '/diff_drive_controller/cmd_vel_unstamped')
+            ]
+        )
+    ])

agv_pro_gazebo/launch/test.launch.py

@@ -0,0 +1,35 @@
+import os
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch_ros.actions import Node
+from launch.substitutions import Command
+from ament_index_python.packages import get_package_share_directory
+
+def generate_launch_description():
+    pkg_dir = get_package_share_directory('agv_pro_description')
+    xacro_file = os.path.join(pkg_dir, 'urdf', 'minimal_robot.xacro')
+    world_file = os.path.join(pkg_dir, 'worlds', 'empty.world')
+
+    robot_description = {'robot_description': Command(['xacro ', xacro_file])}
+
+    return LaunchDescription([
+        IncludeLaunchDescription(
+            PythonLaunchDescriptionSource(
+                os.path.join(get_package_share_directory('gazebo_ros'), 'launch', 'gazebo.launch.py')
+            ),
+            launch_arguments={'world': world_file}.items()
+        ),
+        Node(
+            package='robot_state_publisher',
+            executable='robot_state_publisher',
+            parameters=[robot_description],
+            output='screen'
+        ),
+        Node(
+            package='gazebo_ros',
+            executable='spawn_entity.py',
+            arguments=['-topic', 'robot_description', '-entity', 'minimal_bot'],
+            output='screen'
+        )
+    ])