[ros2]多机器人实现遇到的坑

ros2_control 问题汇总 foxy版本

在foxy版本下运行ros2_control遇到的问题，最终没有做成。换humble后可行，建议换版本

1. launch.substitutions.substitution_failure.SubstitutionFailure: executable ‘spawner’ not found on the libexec directory ‘/opt/ros/foxy/lib/controller_manager’

spawner —> spawner.py

joint_state_broadcaster_spawner = Node(
	package="controller_manager",
	executable="spawner.py",
	namespace=robot_name,
	arguments=["joint_state_broadcaster", "--controller-manager", "/controller_manager"],
)

2. 参数加载失败

[ros2_control_node-7] [ERROR] [1713539936.796875546] [rcl]: Failed to parse global arguments
[ros2_control_node-7] terminate called after throwing an instance of 'rclcpp::exceptions::RCLInvalidROSArgsError'
[ros2_control_node-7]   what():  failed to initialize rcl: Couldn't parse params file: '--params-file /home/xianzhou/DRLN_ws/install/models/share/models/config/omni_robot.yaml'. 
Error: No value at line 6, at /tmp/binarydeb/ros-foxy-rcl-yaml-param-parser-1.1.14/src/parse.c:204, at /tmp/binarydeb/ros-f	oxy-rcl-1.1.14/src/rcl/arguments.c:388

yaml文件第x行缺少东西，或者缩进格式有问题

3.缺少描述文件

[ros2_control_node-7] terminate called after throwing an instance of 'std::runtime_error'
[ros2_control_node-7]   what():  Unable to initialize resource manager, no robot description found.

launch_description.append(
    Node(
        package="controller_manager",
        executable="ros2_control_node",
        namespace=robot_name,
        parameters=[
        	{'robot_description': robot_description_config.toxml()},#添加描述文件