ROS 2机器人仿真：零成本玩转机器人

URDF机器人建模

4.3.2 机器人模型可视化

$ ros2 launch learning_urdf display.launch.py

$ urdf_to_graphviz mbot_base.urdf    # 在模型所在的文件夹下运行

4.4.3 机器人模型可视化

$ ros2 launch learning_urdf display_xacro.launch.py

4.6.1 在Gazebo中加载机器人模型

$ ros2 launch learning_gazebo_harmonic load_urdf_into_gazebo_harmonic.launch.py

4.6.3 RGB相机仿真与可视化

$ ros2 launch learning_gazebo_harmonic load_mbot_camera_into_gazebo_harmonic.launch.py

4.6.4 RGBD相机仿真与可视化

$ ros2 launch learning_gazebo_harmonic load_mbot_rgbd_into_gazebo_harmonic.launch.py

4.6.5 激光雷达仿真与可视化

$ ros2 launch learning_gazebo_harmonic load_mbot_lidar_into_gazebo_harmonic.launch.py