ubunto 20.04 arbotix

在Ubuntu 20.04上，您可以使用以下代码来运行Arbotix和MBot机器人的ROS launch文件：

<launch>
    <arg name="model" default="$(find xacro)/xacro '$(find mbot_description)/urdf/xacro/mbot_with_camera.xacro'" />
    <arg name="gui" default="false" />
    <param name="robot_description" command="$(arg model)" />
    <param name="use_gui" value="$(arg gui)"/>
    <node name="arbotix" pkg="arbotix_python" type="arbotix_driver" output="screen">
        <rosparam file="$(find mbot_description)/config/fake_mbot_arbotix.yaml" command="load" />
        <param name="sim" value="true"/>
    </node>
    <node name="joint_state_publisher_gui" pkg="joint_state_publisher_gui" type="joint_state_publisher_gui" />
    <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find mbot_description)/config/mbot_arbotix.rviz" required="true" />
</launch>

另外，您需要在`~/catkin_ws/src/mbot_description/config/`目录下创建一个参数配置文件`fake_mbot_arbotix.yaml`。