How to convert xacro robot model file to urdf file by writing a launch file to start gazebo simulation and display the model in rviz2

Enterprise 2023-09-17 05:51:16 views: null

The urdf file is very straightforward. Each part's </link> </joint> must be written once, and each part data must be calculated by itself. It is very troublesome, but it is very simple to use. The model files written by xacro can define many constants in advance. For robots of different sizes, just change the constants, and the robot model can be regenerated. The code can be reused, making it much simpler to write. However, writing the launch file is more troublesome.

Car model file written in urdf:

<!-- base.urdf -->
<?xml version="1.0" ?>
<robot name="jtbot">
  <!-- 机器人底盘 -->
  <link name="base_link">
    <visual>
      <geometry>
        <box size="0.46 0.46 0.11"/>
      </geometry>
      <material name="Cyan">
        <color rgba="0 1.0 1.0 1.0"/>
      </material>
    </visual>
    <!-- 碰撞区域 -->
    <collision>
      <geometry>
        <box size="0.46 0.46 0.11"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
      <mass value="15"/>
      <inertia ixx="0.279625" ixy="0.0" ixz="0.0" iyy="0.529" iyz="0.0" izz="0.279625"/>
    </inertial>
  </link>
  <!-- 机器人 Footprint -->
  <link name="base_footprint"/>
  <!-- 底盘关节 -->
  <joint name="base_joint" type="fixed">
    <parent link="base_link"/>
    <child link="base_footprint"/>
    <origin rpy="0 0 0" xyz="0.0 0.0 -0.1325"/>
  </joint>
  <link name="left_wheel_link">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.06" radius="0.0775"/>
      </geometry>
      <material name="Gray">
        <color rgba="0.5 0.5 0.5 1.0"/>
      </material>
    </visual>
    <!-- 碰撞区域 -->
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.06" radius="0.0775"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <mass value="0.8"/>
      <inertia ixx="0.0014412499999999998" ixy="0" ixz="0" iyy="0.0014412499999999998" iyz="0" izz="0.0024025"/>
    </inertial>
  </link>
  <!-- 轮子关节 -->
  <joint name="left_wheel_joint" type="continuous">
    <parent link="base_link"/>
    <child link="left_wheel_link"/>
    <origin rpy="0 0 0" xyz="0.15 0.27 -0.055"/>
    <axis xyz="0 1 0"/>
  </joint>
  <link name="right_wheel_link">
    <visual>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.06" radius="0.0775"/>
      </geometry>
      <material name="Gray">
        <color rgba="0.5 0.5 0.5 1.0"/>
      </material>
    </visual>
    <!-- 碰撞区域 -->
    <collision>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.06" radius="0.0775"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="1.5707963267948966 0 0" xyz="0 0 0"/>
      <mass value="0.8"/>
      <inertia ixx="0.0014412499999999998" ixy="0" ixz="0" iyy="0.0014412499999999998" iyz="0" izz="0.0024025"/>
    </inertial>
  </link>
  <!-- 轮子关节 -->
  <joint name="right_wheel_joint" type="continuous">
    <parent link="base_link"/>
    <child link="right_wheel_link"/>
    <origin rpy="0 0 0" xyz="0.15 -0.27 -0.055"/>
    <axis xyz="0 1 0"/>
  </joint>
  <!-- 支撑轮 -->
  <link name="caster_link">
    <visual>
      <geometry>
        <sphere radius="0.03875"/>
      </geometry>
      <material name="Cyan">
        <color rgba="0 1.0 1.0 1.0"/>
      </material>
    </visual>
    <!-- 碰撞区域 -->
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <sphere radius="0.03875"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="0.5"/>
      <inertia ixx="0.0003003125" ixy="0.0" ixz="0.0" iyy="0.0003003125" iyz="0.0" izz="0.0003003125"/>
    </inertial>
  </link>
  <!-- 支撑轮gazebo颜色 -->
  <gazebo reference="caster_link">
    <material>Gazebo/Black</material>
  </gazebo>
  <!-- 支撑轮gazebo摩擦力 -->
  <gazebo reference="caster_link">
    <mu1 value="0.0"/>
    <mu2 value="0.0"/>
    <kp value="1000000.0"/>
    <kd value="10.0"/>
  </gazebo>
  <!-- 支撑轮关节 -->
  <joint name="caster_joint" type="fixed">
    <parent link="base_link"/>
    <child link="caster_link"/>
    <origin rpy="0 0 0" xyz="-0.205 0.0 -0.09375"/>
  </joint>
  <!-- imu -->
  <link name="imu_link">
    <visual>
      <geometry>
        <box size="0.06 0.03 0.03"/>
      </geometry>
    </visual>
    <!-- 碰撞区域 -->
    <collision>
      <geometry>
        <box size="0.06 0.03 0.03"/>
      </geometry>
    </collision>
    <inertial>
      <origin rpy="1.5707963267948966 0 1.5707963267948966" xyz="0 0 0"/>
      <mass value="0.1"/>
      <inertia ixx="0.0001666666666666667" ixy="0.0" ixz="0.0" iyy="0.0001666666666666667" iyz="0.0" izz="0.0001666666666666667"/>
    </inertial>
  </link>
  <!-- imu关节 -->
  <joint name="imu_joint" type="fixed">
    <parent link="base_link"/>
    <child link="imu_link"/>
    <origin xyz="-0.05 0 -0.055"/>
  </joint>
  <!-- imu仿真插件 -->
  <gazebo reference="imu_link">
    <sensor name="imu_sensor" type="imu">
      <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
        <ros>
          <!-- 命名空间 -->
          <!-- <namespace>/demo</namespace> -->
          <remapping>~/out:=imu</remapping>
        </ros>
        <!-- 初始方位_参考 -->
        <initial_orientation_as_reference>false</initial_orientation_as_reference>
      </plugin>
      <always_on>true</always_on>
      <!-- 更新频率 -->
      <update_rate>100</update_rate>
      <visualize>true</visualize>
      <imu>
        <!-- 角速度 -->
        <angular_velocity>
          <x>
            <noise type="gaussian">
              <mean>0.0</mean>
              <stddev>2e-4</stddev>
              <bias_mean>0.0000075</bias_mean>
              <bias_stddev>0.0000008</bias_stddev>
            </noise>
          </x>
          <y>
            <noise type="gaussian">
              <mean>0.0</mean>
              <stddev>2e-4</stddev>
              <bias_mean>0.0000075</bias_mean>
              <bias_stddev>0.0000008</bias_stddev>
            </noise>
          </y>
          <z>
            <noise type="gaussian">
              <mean>0.0</mean>
              <stddev>2e-4</stddev>
              <bias_mean>0.0000075</bias_mean>
              <bias_stddev>0.0000008</bias_stddev>
            </noise>
          </z>
        </angular_velocity>
        <!-- 线性加速度 -->
        <linear_acceleration>
          <x>
            <noise type="gaussian">
              <mean>0.0</mean>
              <stddev>1.7e-2</stddev>
              <bias_mean>0.1</bias_mean>
              <bias_stddev>0.001</bias_stddev>
            </noise>
          </x>
          <y>
            <noise type="gaussian">
              <mean>0.0</mean>
              <stddev>1.7e-2</stddev>
              <bias_mean>0.1</bias_mean>
              <bias_stddev>0.001</bias_stddev>
            </noise>
          </y>
          <z>
            <noise type="gaussian">
              <mean>0.0</mean>
              <stddev>1.7e-2</stddev>
              <bias_mean>0.1</bias_mean>
              <bias_stddev>0.001</bias_stddev>
            </noise>
          </z>
        </linear_acceleration>
      </imu>
    </sensor>
  </gazebo>
  <!-- 差速驱动仿真插件 -->
  <gazebo>
    <plugin filename="libgazebo_ros_diff_drive.so" name="diff_drive">
      <ros>
        <!-- 命名空间 -->
        <!-- <namespace>/demo</namespace> -->
      </ros>
      <!-- 左右轮子 -->
      <left_joint>left_wheel_joint</left_joint>
      <right_joint>right_wheel_joint</right_joint>
      <!-- 轮距 轮子直径 -->
      <wheel_separation>0.52</wheel_separation>
      <!-- <wheel_separation>0.52</wheel_separation> -->
      <wheel_diameter>0.155</wheel_diameter>
      <!-- <wheel_diameter>0.155</wheel_diameter> -->
      <!-- 最大扭矩 最大加速度 -->
      <max_wheel_torque>20</max_wheel_torque>
      <max_wheel_acceleration>1.0</max_wheel_acceleration>
      <!-- 输出 -->
      <!-- 是否发布里程计 -->
      <publish_odom>true</publish_odom>
      <!-- 是否发布里程计的tf开关 -->
      <publish_odom_tf>true</publish_odom_tf>
      <!-- 是否发布轮子的tf数据开关 -->
      <publish_wheel_tf>true</publish_wheel_tf>
      <!-- 里程计的framed ID，最终体现在话题和TF上 -->
      <odometry_frame>odom</odometry_frame>
      <!-- 机器人的基础frame的ID -->
      <robot_base_frame>base_link</robot_base_frame>
    </plugin>
  </gazebo>
  <!-- 雷达 -->
  <link name="laser">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.04" radius="0.04"/>
      </geometry>
    </visual>
    <!-- 惯性属性 -->
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.125"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
    <!-- 碰撞区域 -->
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <cylinder length="0.04" radius="0.04"/>
      </geometry>
    </collision>
  </link>
  <!-- 雷达关节 -->
  <joint name="laser_joint" type="fixed">
    <parent link="base_link"/>
    <child link="laser"/>
    <origin rpy="0 0 0" xyz="0.16 0 0.078"/>
  </joint>
  <gazebo reference="laser">
    <sensor name="laser" type="ray">
      <always_on>true</always_on>
      <visualize>false</visualize>
      <update_rate>5</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>360</samples>
            <resolution>1.000000</resolution>
            <min_angle>0.000000</min_angle>
            <max_angle>6.280000</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.120000</min>
          <max>3.5</max>
          <resolution>0.015000</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin filename="libgazebo_ros_ray_sensor.so" name="scan">
        <ros>
          <remapping>~/out:=scan</remapping>
        </ros>
        <output_type>sensor_msgs/LaserScan</output_type>
        <frame_name>laser</frame_name>
      </plugin>
    </sensor>
  </gazebo>
  <!-- 相机 -->
  <link name="camera_link">
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.015 0.130 0.022"/>
      </geometry>
    </visual>
    <!-- 碰撞区域 -->
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <box size="0.015 0.130 0.022"/>
      </geometry>
    </collision>
    <!-- 惯性属性 -->
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.035"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001"/>
    </inertial>
  </link>
  <!-- 相机关节 -->
  <joint name="camera_joint" type="fixed">
    <parent link="base_link"/>
    <child link="camera_link"/>
    <origin rpy="0 0 0" xyz="0.16 0 0.11"/>
  </joint>
  <!-- 深度相机 -->
  <link name="camera_depth_frame"/>
  <joint name="camera_depth_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="camera_link"/>
    <child link="camera_depth_frame"/>
  </joint>
  <!-- 相机仿真 -->
  <gazebo reference="camera_depth_link">
    <sensor name="depth_camera" type="depth">
      <visualize>true</visualize>
      <update_rate>30.0</update_rate>
      <camera name="camera">
        <horizontal_fov>1.047198</horizontal_fov>
        <image>
          <width>640</width>
          <height>480</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.05</near>
          <far>3</far>
        </clip>
      </camera>
      <plugin filename="libgazebo_ros_camera.so" name="depth_camera_controller">
        <baseline>0.2</baseline>
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <frame_name>camera_depth_frame</frame_name>
        <pointCloudCutoff>0.5</pointCloudCutoff>
        <pointCloudCutoffMax>3.0</pointCloudCutoffMax>
        <distortionK1>0</distortionK1>
        <distortionK2>0</distortionK2>
        <distortionK3>0</distortionK3>
        <distortionT1>0</distortionT1>
        <distortionT2>0</distortionT2>
        <CxPrime>0</CxPrime>
        <Cx>0</Cx>
        <Cy>0</Cy>
        <focalLength>0</focalLength>
        <hackBaseline>0</hackBaseline>
      </plugin>
    </sensor>
  </gazebo>
</robot>

Car model file written by xacro:

<!-- base.urdf.xacro -->
<?xml version="1.0"?>
<robot name="jtbot"
  xmlns:xacro="http://ros.org/wiki/xacro">

  <!-- 定义机器人常量 -->
  <!-- 底盘 长 宽 高 -->
  <xacro:property name="base_width" value="0.46"/>
  <xacro:property name="base_length" value="0.46"/>
  <xacro:property name="base_height" value="0.11"/>
  <!-- 轮子半径 -->
  <xacro:property name="wheel_radius" value="0.0775"/>
  <!-- 轮子宽度 -->
  <xacro:property name="wheel_width" value="0.06"/>
  <!-- 轮子和底盘的间距 -->
  <xacro:property name="wheel_ygap" value="0.01"/>
  <!-- 轮子z轴偏移量 -->
  <xacro:property name="wheel_zoff" value="0.055"/>
  <!-- 轮子x轴偏移量 -->
  <xacro:property name="wheel_xoff" value="0.15"/>
  <!-- 支撑轮x轴偏移量 -->
  <xacro:property name="caster_xoff" value="0.205"/>

  <!-- 定义长方形惯性属性宏  -->
  <xacro:macro name="box_inertia" params="m w h d">
    <inertial>
      <origin xyz="0 0 0" rpy="${pi/2} 0 ${pi/2}"/>
      <mass value="${m}"/>
      <inertia ixx="${(m/12) * (h*h + d*d)}" ixy="0.0" ixz="0.0" iyy="${(m/12) * (w*w + d*d)}" iyz="0.0" izz="${(m/12) * (w*w + h*h)}"/>
    </inertial>
  </xacro:macro>
  <!-- 定义圆柱惯性属性宏  -->
  <xacro:macro name="cylinder_inertia" params="m r h">
    <inertial>
      <origin xyz="0 0 0" rpy="${pi/2} 0 0" />
      <mass value="${m}"/>
      <inertia ixx="${(m/12) * (3*r*r + h*h)}" ixy = "0" ixz = "0" iyy="${(m/12) * (3*r*r + h*h)}" iyz = "0" izz="${(m/2) * (r*r)}"/>
    </inertial>
  </xacro:macro>
  <!-- 定义球体惯性属性宏  -->
  <xacro:macro name="sphere_inertia" params="m r">
    <inertial>
      <mass value="${m}"/>
      <inertia ixx="${(2/5) * m * (r*r)}" ixy="0.0" ixz="0.0" iyy="${(2/5) * m * (r*r)}" iyz="0.0" izz="${(2/5) * m * (r*r)}"/>
    </inertial>
  </xacro:macro>

  <!-- 机器人底盘 -->
  <link name="base_link">
    <visual>
      <geometry>
        <box size="${base_length} ${base_width} ${base_height}"/>
      </geometry>
      <material name="Cyan">
        <color rgba="0 1.0 1.0 1.0"/>
      </material>
    </visual>
    <!-- 碰撞区域 -->
    <collision>
      <geometry>
        <box size="${base_length} ${base_width} ${base_height}"/>
      </geometry>
    </collision>
    <!-- 惯性特性 -->
    <xacro:box_inertia m="15" w="${base_width}" d="${base_length}" h="${base_height}"/>
  </link>

  <!-- 机器人 Footprint -->
  <link name="base_footprint"/>
  <!-- 底盘关节 -->
  <joint name="base_joint" type="fixed">
    <parent link="base_link"/>
    <child link="base_footprint"/>
    <origin xyz="0.0 0.0 ${-(wheel_radius+wheel_zoff)}" rpy="0 0 0"/>
  </joint>

  <!-- 创建轮子宏函数 -->
  <xacro:macro name="wheel" params="prefix x_reflect y_reflect">
    <link name="${prefix}_link">
      <visual>
        <origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
        <geometry>
          <cylinder radius="${wheel_radius}" length="${wheel_width}"/>
        </geometry>
        <material name="Gray">
          <color rgba="0.5 0.5 0.5 1.0"/>
        </material>
      </visual>
      <!-- 碰撞区域 -->
      <collision>
        <origin xyz="0 0 0" rpy="${pi/2} 0 0"/>
        <geometry>
          <cylinder radius="${wheel_radius}" length="${wheel_width}"/>
        </geometry>
      </collision>
      <!-- 惯性属性 -->
      <xacro:cylinder_inertia m="0.8" r="${wheel_radius}" h="${wheel_width}"/>
    </link>
    <!-- 轮子关节 -->
    <joint name="${prefix}_joint" type="continuous">
      <parent link="base_link"/>
      <child link="${prefix}_link"/>
      <origin xyz="${x_reflect*wheel_xoff} ${y_reflect*(base_width/2+wheel_width/2+wheel_ygap)} ${-wheel_zoff}" rpy="0 0 0"/>
      <axis xyz="0 1 0"/>
    </joint>
  </xacro:macro>
  <!-- 根据上面的宏函数实例化左右轮 -->
  <xacro:wheel prefix="left_wheel" x_reflect="1" y_reflect="1" />
  <xacro:wheel prefix="right_wheel" x_reflect="1" y_reflect="-1" />

  <!-- 支撑轮 -->
  <link name="caster_link">
    <visual>
      <geometry>
        <sphere radius="${(wheel_radius/2)}"/>
      </geometry>
      <material name="Cyan">
        <color rgba="0 1.0 1.0 1.0"/>
      </material>
    </visual>
    <!-- 碰撞区域 -->
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <sphere radius="${(wheel_radius/2)}"/>
      </geometry>
    </collision>
    <!-- 惯性属性 -->
    <xacro:sphere_inertia m="0.5" r="${(wheel_radius/2)}"/>
  </link>
  <!-- 支撑轮gazebo颜色 -->
  <gazebo reference="caster_link">
    <material>Gazebo/Black</material>
  </gazebo>
  <!-- 支撑轮gazebo摩擦力 -->
  <gazebo reference="caster_link">
    <mu1 value="0.0"/>
    <mu2 value="0.0"/>
    <kp value="1000000.0" />
    <kd value="10.0" />
  </gazebo>
  <!-- 支撑轮关节 -->
  <joint name="caster_joint" type="fixed">
    <parent link="base_link"/>
    <child link="caster_link"/>
    <origin xyz="${-caster_xoff} 0.0 ${-(base_height+wheel_radius)/2}" rpy="0 0 0"/>
  </joint>
  <!-- imu -->
  <link name="imu_link">
    <visual>
      <geometry>
        <box size="0.06 0.03 0.03"/>
      </geometry>
    </visual>
    <!-- 碰撞区域 -->
    <collision>
      <geometry>
        <box size="0.06 0.03 0.03"/>
      </geometry>
    </collision>
    <!-- 惯性属性 -->
    <xacro:box_inertia m="0.1" w="0.1" d="0.1" h="0.1"/>
  </link>
  <!-- imu关节 -->
  <joint name="imu_joint" type="fixed">
    <parent link="base_link"/>
    <child link="imu_link"/>
    <origin xyz="-0.05 0 -0.055"/>
  </joint>
  <!-- imu仿真插件 -->
  <gazebo reference="imu_link">
    <sensor name="imu_sensor" type="imu">
      <plugin filename="libgazebo_ros_imu_sensor.so" name="imu_plugin">
        <ros>
          <!-- 命名空间 -->
          <!-- <namespace>/demo</namespace> -->
          <remapping>~/out:=imu</remapping>
        </ros>
        <!-- 初始方位_参考 -->
        <initial_orientation_as_reference>true</initial_orientation_as_reference>
      </plugin>
      <always_on>true</always_on>
      <!-- 更新频率 -->
      <update_rate>100</update_rate>
      <visualize>true</visualize>
      <imu>
        <!-- 角速度 -->
        <angular_velocity>
          <x>
            <noise type="gaussian">
              <mean>0.0</mean>
              <stddev>2e-4</stddev>
              <bias_mean>0.0000075</bias_mean>
              <bias_stddev>0.0000008</bias_stddev>
            </noise>
          </x>
          <y>
            <noise type="gaussian">
              <mean>0.0</mean>
              <stddev>2e-4</stddev>
              <bias_mean>0.0000075</bias_mean>
              <bias_stddev>0.0000008</bias_stddev>
            </noise>
          </y>
          <z>
            <noise type="gaussian">
              <mean>0.0</mean>
              <stddev>2e-4</stddev>
              <bias_mean>0.0000075</bias_mean>
              <bias_stddev>0.0000008</bias_stddev>
            </noise>
          </z>
        </angular_velocity>
        <!-- 线性加速度 -->
        <linear_acceleration>
          <x>
            <noise type="gaussian">
              <mean>0.0</mean>
              <stddev>1.7e-2</stddev>
              <bias_mean>0.1</bias_mean>
              <bias_stddev>0.001</bias_stddev>
            </noise>
          </x>
          <y>
            <noise type="gaussian">
              <mean>0.0</mean>
              <stddev>1.7e-2</stddev>
              <bias_mean>0.1</bias_mean>
              <bias_stddev>0.001</bias_stddev>
            </noise>
          </y>
          <z>
            <noise type="gaussian">
              <mean>0.0</mean>
              <stddev>1.7e-2</stddev>
              <bias_mean>0.1</bias_mean>
              <bias_stddev>0.001</bias_stddev>
            </noise>
          </z>
        </linear_acceleration>
      </imu>
    </sensor>
  </gazebo>
  <!-- 差速驱动仿真插件 -->
  <gazebo>
    <plugin name='diff_drive' filename='libgazebo_ros_diff_drive.so'>
      <ros>
        <!-- 命名空间 -->
        <!-- <namespace>/demo</namespace> -->
      </ros>

      <!-- 左右轮子 -->
      <left_joint>left_wheel_joint</left_joint>
      <right_joint>right_wheel_joint</right_joint>

      <!-- 轮距 轮子直径 -->
      <wheel_separation>${base_width+wheel_width}</wheel_separation>
      <!-- <wheel_separation>0.52</wheel_separation> -->
      <wheel_diameter>${wheel_radius*2}</wheel_diameter>
      <!-- <wheel_diameter>0.155</wheel_diameter> -->

      <!-- 最大扭矩 最大加速度 -->
      <max_wheel_torque>20</max_wheel_torque>
      <max_wheel_acceleration>1.0</max_wheel_acceleration>

      <!-- 输出 -->
      <!-- 是否发布里程计 -->
      <publish_odom>true</publish_odom>
      <!-- 是否发布里程计的tf开关 -->
      <publish_odom_tf>true</publish_odom_tf>
      <!-- 是否发布轮子的tf数据开关 -->
      <publish_wheel_tf>true</publish_wheel_tf>

      <!-- 里程计的framed ID，最终体现在话题和TF上 -->
      <odometry_frame>odom</odometry_frame>
      <!-- 机器人的基础frame的ID -->
      <robot_base_frame>base_link</robot_base_frame>
    </plugin>
  </gazebo>
  <!-- 雷达 -->
  <link name="laser">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <cylinder radius="0.04" length="0.04"/>
      </geometry>
    </visual>
    <!-- 惯性属性 -->
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.125"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
    </inertial>
    <!-- 碰撞区域 -->
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <cylinder radius="0.04" length="0.04"/>
      </geometry>
    </collision>
  </link>
  <!-- 雷达关节 -->
  <joint name="laser_joint" type="fixed">
    <parent link="base_link"/>
    <child link="laser"/>
    <origin xyz="0.16 0 0.078" rpy="0 0 0"/>
  </joint>

  <gazebo reference="laser">
    <sensor name="laser" type="ray">
      <always_on>true</always_on>
      <visualize>false</visualize>
      <update_rate>5</update_rate>
      <ray>
        <scan>
          <horizontal>
            <samples>360</samples>
            <resolution>1.000000</resolution>
            <min_angle>0.000000</min_angle>
            <max_angle>6.280000</max_angle>
          </horizontal>
        </scan>
        <range>
          <min>0.120000</min>
          <max>3.5</max>
          <resolution>0.015000</resolution>
        </range>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.01</stddev>
        </noise>
      </ray>
      <plugin name="scan" filename="libgazebo_ros_ray_sensor.so">
        <ros>
          <remapping>~/out:=scan</remapping>
        </ros>
        <output_type>sensor_msgs/LaserScan</output_type>
        <frame_name>laser</frame_name>
      </plugin>
    </sensor>
  </gazebo>
  <!-- 相机 -->
  <link name="camera_link">
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.015 0.130 0.022"/>
      </geometry>
    </visual>
    <!-- 碰撞区域 -->
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <geometry>
        <box size="0.015 0.130 0.022"/>
      </geometry>
    </collision>
    <!-- 惯性属性 -->
    <inertial>
      <origin xyz="0 0 0" rpy="0 0 0"/>
      <mass value="0.035"/>
      <inertia ixx="0.001" ixy="0" ixz="0" iyy="0.001" iyz="0" izz="0.001" />
    </inertial>
  </link>
  <!-- 相机关节 -->
  <joint name="camera_joint" type="fixed">
    <parent link="base_link"/>
    <child link="camera_link"/>
    <origin xyz="0.16 0 0.11" rpy="0 0 0"/>
  </joint>
  <!-- 深度相机 -->
  <link name="camera_depth_frame"/>

  <joint name="camera_depth_joint" type="fixed">
    <origin xyz="0 0 0" rpy="0 0 0"/>
    <parent link="camera_link"/>
    <child link="camera_depth_frame"/>
  </joint>
  <!-- 相机仿真 -->
  <gazebo reference="camera_depth_link">
    <sensor name="depth_camera" type="depth">
      <visualize>true</visualize>
      <update_rate>30.0</update_rate>
      <camera name="camera">
        <horizontal_fov>1.047198</horizontal_fov>
        <image>
          <width>640</width>
          <height>480</height>
          <format>R8G8B8</format>
        </image>
        <clip>
          <near>0.05</near>
          <far>3</far>
        </clip>
      </camera>
      <plugin name="depth_camera_controller" filename="libgazebo_ros_camera.so">
        <baseline>0.2</baseline>
        <alwaysOn>true</alwaysOn>
        <updateRate>0.0</updateRate>
        <frame_name>camera_depth_frame</frame_name>
        <pointCloudCutoff>0.5</pointCloudCutoff>
        <pointCloudCutoffMax>3.0</pointCloudCutoffMax>
        <distortionK1>0</distortionK1>
        <distortionK2>0</distortionK2>
        <distortionK3>0</distortionK3>
        <distortionT1>0</distortionT1>
        <distortionT2>0</distortionT2>
        <CxPrime>0</CxPrime>
        <Cx>0</Cx>
        <Cy>0</Cy>
        <focalLength>0</focalLength>
        <hackBaseline>0</hackBaseline>
      </plugin>
    </sensor>
  </gazebo>

</robot>

The xacro model file needs to be converted into a urdf model file before it can be used.

Method 1 Convert in advance:

Open the terminal in the current folder and enter: base.urdf.xacro > base.urdf to generate a pure urdf file.

Method 2: Automatically transfer when running the launch file, you need to add the xacro parsing step

In the package.xml file, add: <exec_depend>xacro</exec_depend> before <test_depend>

Launch file writing:

# 此launch文件是机器人仿真程序，包含 gazebo启动，机器人仿真生成，机器人模型状态发布
import os
from launch import LaunchDescription
from launch.actions import ExecuteProcess
from launch_ros.actions import Node
from launch_ros.substitutions import FindPackageShare
from launch.substitutions import LaunchConfiguration
import xacro

def generate_launch_description():
    robot_name_in_model = 'jtbot'         #机器人模型名字
    package_name = 'jtbot_description'    #模型包名

    ld = LaunchDescription()
    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
    pkg_share = FindPackageShare(package=package_name).find(package_name) 
    gazebo_world_path = os.path.join(pkg_share, 'world/jt.world')        #世界仿真文件路径
    default_rviz_config_path = os.path.join(pkg_share, 'rviz/mrviz2.rviz')  #rviz配置文件路径
    urdf_xacro_file = os.path.join(pkg_share, 'urdf/jtbot_base.urdf.xacro') #xacro模型文件路径
    #解析xacro模型文件
    doc = xacro.parse(open(urdf_xacro_file))
    xacro.process_doc(doc)
    params = {'robot_description': doc.toxml()}

    # 开启ros Gazebo server
    start_gazebo_cmd = ExecuteProcess(
        cmd=['gazebo',
        '--verbose', 
        gazebo_world_path,
        '-s', 'libgazebo_ros_init.so',   
        '-s', 'libgazebo_ros_factory.so', 
         
         ],
        output='screen')

     # Start Robot State publisher
    start_robot_state_publisher_cmd = Node(
        package='robot_state_publisher',
        executable='robot_state_publisher',
        output='screen',
        
        parameters=[params,{'use_sim_time': use_sim_time}]
    )    

    # gazebo内生成机器人
    spawn_entity_cmd = Node(
        package='gazebo_ros', 
        executable='spawn_entity.py',
        arguments=['-entity', robot_name_in_model,  '-topic', 'robot_description'], 
        output='screen'
      
        )
	
   

    # Launch RViz
    start_rviz_cmd = Node(
        package='rviz2',
        executable='rviz2',
        name='rviz2',
        output='screen',
        arguments=['-d', default_rviz_config_path]
        )

    ld.add_action(start_gazebo_cmd)
    ld.add_action(spawn_entity_cmd)
    ld.add_action(start_robot_state_publisher_cmd)
    ld.add_action(start_rviz_cmd)


    return ld

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