首先创建一个文件夹,进入主目录打开终端madir -p mybot/src进入src目录打开新的终端创建机器人功能包ros2 pkg create first在功能包下创建launch、rviz、urdf文件夹在urdf文件夹下创建body.urdf文件内容如下robot namebody link namebody_link visual geometry box size0.6 0.4 0.2/ /geometry /visual /link /robot创建launch启动文件启动机器人模型关节发布模型rviz内容如下import os from launch import LaunchDescription from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node from launch_ros.substitutions import FindPackageShare def generate_launch_description(): package_name first urdf_name body.urdf ld LaunchDescription() pkg_share FindPackageShare(packagepackage_name).find(package_name) urdf_model_path os.path.join(pkg_share, furdf/{urdf_name}) robot_state_publisher_node Node( packagerobot_state_publisher, executablerobot_state_publisher, arguments[urdf_model_path] ) joint_state_publisher_node Node( packagejoint_state_publisher_gui, executablejoint_state_publisher_gui, namejoint_state_publisher_gui, arguments[urdf_model_path] ) rviz2_node Node( packagerviz2, executablerviz2, namerviz2, outputscreen, ) ld.add_action(robot_state_publisher_node) ld.add_action(joint_state_publisher_node) ld.add_action(rviz2_node) return ld配置CmakeLists文件主要是添加安装目录。以上步骤完成后就可以编译文件了进入mybot文件夹打开终端输入编译指令colcon build加载环境变量souce install/setup.bash启动程序ros2 launch first display.launch.pyrviz启动后需要加载机器人模型修改坐标和话题。机器人就启动完成了。joint_state_publisher_gui负责发布机器人关节数据信息通过joint_states话题发布robot_state_publisher_node负责发布机器人模型信息robot_description并将joint_states数据转换tf信息发布rviz2_node负责显示机器人的信息生成长方体、圆柱与球体的机器人部件link namebase_link visual !-- 形状 -- geometry !-- 长方体的长宽高 -- !-- box size0.5 0.3 0.1 / -- !-- 圆柱半径和长度 -- !-- cylinder radius0.5 length0.1 / -- !-- 球体半径-- !-- sphere radius0.3 / -- /geometry !-- xyz坐标 rpy翻滚俯仰与偏航角度(3.14180度 1.5790度) -- origin xyz0 0 0 rpy0 0 0 / !-- 颜色: rred ggreen bblue aalpha -- material nameblack color rgba0.7 0.5 0 0.5 / /material /visual /link每日沸话跌跌撞撞的日子也能打捞其中的闪亮和美好