ROS机器人高效编程（原书第3版）封面

$ roslaunch chapter5_tutorials gazebo_map_robot.launch model:="`rospack find robot1_description`/urdf/robot1_base_04.xacro"

 只有警告，并没有错误，但是rviz打不开： 

解决办法：

1.修改文件gazebo_map_robot.launch

<?xml version="1.0"?>
<launch>

    <param name="/use_sim_time" value="true" />
    <!-- <remap from="scan" to="/robot/laser/scan"/> -->
    <!-- <param name="base_link" value="base_footprint"/> -->

    <!-- start up wg world -->
    <include file="$(find gazebo_ros)/launch/willowgarage_world.launch" />
    <arg name="model" />
    <param name="robot_description" command="$(find xacro)/xacro.py $(find robot1_description)/urdf/robot1_base_04.xacro" />   
    <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" ></node>

    <!-- start robot state publisher -->
    <node pkg="robot_state_publisher" type="robot_state_publisher" name="robot_state_publisher" output="screen" >
    <param name="publish_frequency" type="double" value="50.0" />
    </node>

    <node name="spawn_robot" pkg="gazebo_ros" type="spawn_model" args="-urdf -param robot_description -z 0.1 -model robot_model" respawn="false" output="screen" >
    </node>

    <node name="map_server" pkg="map_server" type="map_server" args="$(find chapter5_tutorials)/maps/map.yaml" output="screen">
    </node>

    <node pkg="tf" type="static_transform_publisher" name="odom_map_broadcaster" args="0 0 0 0 0 0 /map /odom 100" /> 
    <node name="rviz" pkg="rviz" type="rviz" args="-d $(find chapter5_tutorials)/launch/mapping.rviz" />

</launch>

 

2.修改文件：/home/caigen001/catkin_hm/src/chapter4_tutorials/robot1_description/urdf/robot1_base_04.xacro

文件的最后<gazebo>...</gazebo>模块

具体参照博客：

https://blog.csdn.net/caigen0001/article/details/86532788

3.重新启动即可

$ roslaunch chapter5_tutorials gazebo_map_robot.launch
$ rosrun teleop_twist_keyboard teleop_twist_keyboard.py

 

实验效果：

 

 

$ rqt_graph

参考资料：

https://blog.csdn.net/caigen0001/article/details/86532788

https://blog.csdn.net/x_r_su/article/details/53504784