ros2 加载多机器人

一.效果：

如图，启动了十个方块机器人。

二.环境配置

2.1文件布局

description:机器人部分
gazebo：仿真环境部分

2.2 启动的文件

ros2 launch box_bot_gazebo multi_box_bot_launch.py

1.描述文件所在位置：

分别给出box_bot_gazebo 和 box_bot_description两个文件夹的位置
2.world部分：

world启动文件的位置
3.robot部分：

robot启动文件的位置
4.返回，开始启动两部分文件

三、world和robot代码解读

3.1 world.py

start_world_launch:

#!/usr/bin/python3
# -*- coding: utf-8 -*-
import os

from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.actions import IncludeLaunchDescription
from launch.conditions import IfCondition
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node


def generate_launch_description():

    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
    pkg_box_bot_gazebo = get_package_share_directory('box_bot_gazebo')

    # Gazebo launch
    gazebo = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py'),
        )
    )    

    return LaunchDescription([
        DeclareLaunchArgument(
          'world',
          default_value=[os.path.join(pkg_box_bot_gazebo, 'worlds', 'box_bot_empty.world'), ''],
          description='SDF world file'),
        gazebo
    ])

1.启动gazebo文件：

2.加载世界：
box_bot_empty.world:

<?xml version="1.0" ?>

<sdf version="1.6">
  <world name="default">

    <include>
      <uri>model://sun</uri>
    </include>
    <include>
      <uri>model://ground_plane</uri>
    </include>

  </world>
</sdf>

3.2 robot.py

multi_spawn_robot_launch.py

#!/usr/bin/python3
# -*- coding: utf-8 -*-
import sys
import os

from ament_index_python.packages import get_package_share_directory, get_package_prefix
from launch import LaunchDescription
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource
from launch.substitutions import LaunchConfiguration, TextSubstitution



def gen_robot_list(number_of_robots):

    robots = []

    for i in range(number_of_robots):
        robot_name = "box_bot"+str(i)
        x_pos = float(i)
        robots.append({
   
   'name': robot_name, <