一个六自由度机械臂在ROS2中进行gazebo2仿真所需的urdf文件以及驱动其的launch文件编写

1. URDF文件

以下是一个简单的六自由度机械臂的URDF文件示例：

<?xml version="1.0"?>
<robot name="six_dof_arm" xmlns:xacro="http://www.ros.org/wiki/xacro">
  <link name="base_link">
    <visual>
      <geometry>
        <cylinder length="0.2" radius="0.05"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="1.0"/>
      <inertia ixx="0.1" iyy="0.1" izz="0.1" ixy="0.0" ixz="0.0" iyz="0.0"/>
    </inertial>
  </link>

  <joint name="shoulder_pan_joint" type="revolute">
    <parent link="base_link"/>
    <child link="shoulder_link"/>
    <origin rpy="0 0 0" xyz="0 0 0.1"/>
    <axis xyz="0 0 1"/>
    <limit effort="100" lower="-3.14" upper="3.14" velocity="1.0"/>
  </joint>
  
  <link name="shoulder_link">
    <visual>
      <geometry>
        <cylinder length="0.3" radius="0.05"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="1.0"/>
      <inertia ixx="0.1" iyy="0.1" izz="0.1" ixy="0.0" ixz="0.0" iyz="0.0"/>
    </inertial>
  </link>

  <joint name="shoulder_lift_joint" type="revolute">
    <parent link="shoulder_link"/>
    <child link="upper_arm_link"/>
    <origin rpy="-1.57 0 0" xyz="0 0 0.3"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="-3.14" upper="3.14" velocity="1.0"/>
  </joint>
  
  <link name="upper_arm_link">
    <visual>
      <geometry>
        <cylinder length="0.4" radius="0.05"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="1.0"/>
      <inertia ixx="0.1" iyy="0.1" izz="0.1" ixy="0.0" ixz="0.0" iyz="0.0"/>
    </inertial>
  </link>

  <joint name="elbow_joint" type="revolute">
    <parent link="upper_arm_link"/>
    <child link="forearm_link"/>
    <origin rpy="1.57 0 0" xyz="0 0 0.4"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="-3.14" upper="3.14" velocity="1.0"/>
  </joint>
  
  <link name="forearm_link">
    <visual>
      <geometry>
        <cylinder length="0.2" radius="0.05"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="1.0"/>
      <inertia ixx="0.1" iyy="0.1" izz="0.1" ixy="0.0" ixz="0.0" iyz="0.0"/>
    </inertial>
  </link>

  <joint name="wrist_joint" type="revolute">
    <parent link="forearm_link"/>
    <child link="wrist_link"/>
    <origin rpy="-1.57 0 0" xyz="0 0 0.2"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="-3.14" upper="3.14" velocity="1.0"/>
  </joint>
  
  <link name="wrist_link">
    <visual>
      <geometry>
        <cylinder length="0.1" radius="0.05"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="1.0"/>
      <inertia ixx="0.1" iyy="0.1" izz="0.1" ixy="0.0" ixz="0.0" iyz="0.0"/>
    </inertial>
  </link>

  <joint name="gripper_joint" type="revolute">
    <parent link="wrist_link"/>
    <child link="gripper_link"/>
    <origin rpy="-1.57 0 0" xyz="0 0 0.1"/>
    <axis xyz="0 1 0"/>
    <limit effort="100" lower="-3.14" upper="3.14" velocity="1.0"/>
  </joint>
  
  <link name="gripper_link">
    <visual>
      <geometry>
        <box size="0.05 0.05 0.1"/>
      </geometry>
    </visual>
    <inertial>
      <mass value="0.1"/>
      <inertia ixx="0.0001" iyy="0.0001" izz="0.0001" ixy="0.0" ixz="0.0" iyz="0.0"/>
    </inertial>
  </link>

</robot>

2. Launch文件

以下是一个简单的六自由度机械臂的Gazebo2仿真的launch文件示例：

<launch>
  
  <!-- Load URDF into parameter server -->
  <param name="robot_description" textfile="$(find six_dof_arm)/urdf/six_dof_arm.urdf" />
  
  <!-- Launch Gazebo with robot model -->
  <node name="gazebo" pkg="gazebo_ros" type="gazebo" args="$(find six_dof_arm)/worlds/six_dof_arm.world"/>
  
  <!-- Spawn robot model in Gazebo -->
  <node name="spawn_urdf" pkg="gazebo_ros" type="spawn_model" args="-urdf -model my_robot -param robot_description"/>

  <!-- Start joint_state_publisher -->
  <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher">
    <rosparam param="source_list">[/shoulder_pan_joint, /shoulder_lift_joint, /elbow_joint, /wrist_joint, /gripper_joint]</rosparam>
  </node>

  <!-- Start robot_state_publisher -->
  <node name="robot_state_publisher" pkg="robot_state_publisher" type="robot_state_publisher" />

</launch>

注意，上述示例中的文件路径和文件名需要根据实际情况进行修改。