ROS2开发仿真环境的代码

以下是一个简单的ROS2开发仿真环境的代码示例：

URDF文件：在“my_robot/urdf”文件夹下创建名为“my_robot.urdf”的文件。

<?xml version="1.0"?>
<robot name="my_robot" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.1" radius="0.1"/>
      </geometry>
      <origin xyz="0 0 0"/>
    </visual>
  </link>
  <joint name="base_joint" type="fixed">
    <parent link="world"/>
    <child link="base_link"/>
  </joint>
  <link name="link1">
    <visual>
      <geometry>
        <box size="0.1 0.1 0.1"/>
      </geometry>
      <origin xyz="0 0 0.1"/>
    </visual>
  </link>
  <joint name="joint1" type="revolute">
    <parent link="base_link"/>
    <child link="link1"/>
    <origin xyz="0 0 0.1"/>
    <axis xyz="0 0 1"/>
  </joint>
</robot>

控制器配置文件：在“my_robot/controllers”文件夹下创建名为“my_robot_controllers.yaml”的文件。

# Joints being controlled by the position_controllers
position_controllers:
  - name: joint1_position_controller
    type: joint_state_controller/JointStateController
    joints:
      - joint1
  - name: joint1_position_controller
    type: position_controllers/JointPositionController
    joints:
      - joint1

启动文件：在“my_robot/launch”文件夹下创建名为“my_robot.launch.py”的Python文件。

import os
import launch
import launch_ros.actions

def generate_launch_description():
    urdf_file = os.path.join(
        get_package_share_directory('my_robot'),
        'urdf',
        'my_robot.urdf'
    )

    controller_config_file = os.path.join(
        get_package_share_directory('my_robot'),
        'controllers',
        'my_robot_controllers.yaml'
    )

    return launch.LaunchDescription([
        launch.actions.DeclareLaunchArgument(
            'use_sim_time',
            default_value='true',
            description='Use simulation (Gazebo) clock if true'
        ),
        launch.actions.ExecuteProcess(
            cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so', urdf_file],
            output='screen'
        ),
        launch_ros.actions.Node(
            package='joint_state_publisher',
            executable='joint_state_publisher',
            name='joint_state_publisher'
        ),
        launch_ros.actions.Node(
            package='robot_state_publisher',
            executable='robot_state_publisher',
            name='robot_state_publisher',
            parameters=[{
                'robot_description': Command(['xacro', ' ', urdf_file])
            }]
        ),
        launch_ros.actions.Node(
            package='controller_manager',
            executable='spawner.py',
            name='controller_spawner',
            arguments=[controller_config_file],
            output='screen'
        )
    ])

这些代码只是一个简单的示例，您可以根据自己的需求和机器人模型进行修改和扩展。