Mac平台RoboStack环境下gazebo_ros包缺失，如何运行ROS2-Humble+Gazebo？

环境信息 #

• 操作系统：Mac
• ROS安装方式：遵循RoboStack官方指南
• ROS版本：Humble

问题描述 #

在RoboStack环境中尝试查找gazebo_ros包时，执行mamba search gazebo_ros -c robostack返回No match found for: gazebo_ros. Search: *gazebo_ros*。使用调用gazebo_ros包的launch.py启动时，报错package 'gazebo_ros' not found。

原launch.py代码：

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import ExecuteProcess

def generate_launch_description():
    # Paths to the URDF file
    pkg_share = get_package_share_directory('hrssd')
    default_model_path = os.path.join(pkg_share, 'urdf', 'hrssd.urdf')
    
    # Launch Gazebo with an empty world, replace this with your world file if needed
    gazebo = ExecuteProcess(
        cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'],
        output='screen'
    )

    # Node to spawn the robot in Gazebo
    spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',
                        arguments=['-entity', 'hrssd', '-file', default_model_path],
                        output='screen')

    return LaunchDescription([
        gazebo,
        spawn_entity,
    ])

启动报错信息：

[INFO] [launch]: All log files can be found below /Users/X/.ros/log/2024-02-04-00-15-30-935223-MSK-C02DW5J1MD6R.local-1565
[INFO] [launch]: Default logging verbosity is set to INFO
[ERROR] [launch]: Caught exception in launch (see debug for traceback): "package 'gazebo_ros' not found, searching: ['/Users/X/Development/ros_ws/install/hrssd', '/usr/local/Caskroom/miniforge/base/envs/ros_env']"

解决步骤及适配后的launch.py示例 #

1. 安装正确的Gazebo-ROS集成包 #

RoboStack中，ROS2与Gazebo的集成功能被打包在ros-humble-gazebo-ros及相关包中，执行以下命令安装：

mamba install ros-humble-gazebo-ros ros-humble-gazebo-ros-pkgs -c robostack -c conda-forge

2. 适配RoboStack的launch.py示例 #

使用gazebo_ros官方提供的launch文件启动Gazebo，确保通信插件正确加载，同时保留模型生成逻辑：

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import IncludeLaunchDescription
from launch.launch_description_sources import PythonLaunchDescriptionSource

def generate_launch_description():
    # 获取自定义包的URDF路径
    pkg_hrssd = get_package_share_directory('hrssd')
    urdf_path = os.path.join(pkg_hrssd, 'urdf', 'hrssd.urdf')
    
    # 调用gazebo_ros包的官方启动文件
    pkg_gazebo_ros = get_package_share_directory('gazebo_ros')
    gazebo_launch = IncludeLaunchDescription(
        PythonLaunchDescriptionSource(
            os.path.join(pkg_gazebo_ros, 'launch', 'gazebo.launch.py')
        ),
        # 指定启动空世界，可替换为自定义world文件路径
        launch_arguments={'world': 'empty.world'}.items()
    )

    # 生成机器人模型到Gazebo中
    spawn_robot = Node(
        package='gazebo_ros',
        executable='spawn_entity.py',
        arguments=['-entity', 'hrssd', '-file', urdf_path],
        output='screen'
    )

    return LaunchDescription([
        gazebo_launch,
        spawn_robot
    ])

替代启动方式（直接调用gzserver/gzclient） #

如果偏好手动启动Gazebo服务和客户端，可使用以下代码：

import os
from ament_index_python.packages import get_package_share_directory
from launch import LaunchDescription
from launch_ros.actions import Node
from launch.actions import ExecuteProcess

def generate_launch_description():
    pkg_hrssd = get_package_share_directory('hrssd')
    urdf_path = os.path.join(pkg_hrssd, 'urdf', 'hrssd.urdf')

    # 启动Gazebo服务端（加载ROS通信插件）
    gz_server = ExecuteProcess(
        cmd=['gzserver', '--verbose', '-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so'],
        output='screen'
    )

    # 启动Gazebo客户端
    gz_client = ExecuteProcess(
        cmd=['gzclient'],
        output='screen'
    )

    spawn_robot = Node(
        package='gazebo_ros',
        executable='spawn_entity.py',
        arguments=['-entity', 'hrssd', '-file', urdf_path],
        output='screen'
    )

    return LaunchDescription([
        gz_server,
        gz_client,
        spawn_robot
    ])

内容的提问来源于stack exchange，提问作者Виталий Аллахвердянц