ros2-humble使用moveit，自己创建的机械臂模型无法运行demo.launch.py_ros2 moveit

报错大概是这样的，当时我没截取屏幕，用了一下别人的报错，原主在这里：https://blog.csdn.net/m0_59796104/article/details/138900371#comments_33466284

实际上打开demo.launch.py文件会发现里面什么都没有

类似下面的情况：

from moveit_configs_utils import MoveItConfigsBuilder
from moveit_configs_utils.launches import generate_move_group_launch
 
 
def generate_launch_description():
    moveit_config = MoveItConfigsBuilder("xxx", package_name="xxx_config").to_moveit_configs()
    return generate_move_group_launch(moveit_config)

把demo.launch.py里面东西替换成下面的内容：

import os
from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument
from launch.substitutions import LaunchConfiguration
from launch.conditions import IfCondition, UnlessCondition
from launch_ros.actions import Node
from launch.actions import ExecuteProcess
from ament_index_python.packages import get_package_share_directory
from moveit_configs_utils import MoveItConfigsBuilder
 
 
def generate_launch_description():
 
    # Command-line arguments
    db_arg = DeclareLaunchArgument(
        "db", default_value="False", description="Database flag"
    )
 
    moveit_config = (
        MoveItConfigsBuilder("xxx")
        .robot_description(file_path="config/xxx.urdf.xacro")
        .robot_description_semantic(file_path="config/xxx.srdf")
        .trajectory_execution(file_path="config/moveit_controllers.yaml")
        .to_moveit_configs()
    )
 
    # Start the actual move_group node/action server
    run_move_group_node = Node(
        package="moveit_ros_move_group",
        executable="move_group",
        output="screen",
        parameters=[moveit_config.to_dict()],
    )
 
    # RViz
    rviz_base = os.path.join(
        get_package_share_directory("xxx_moveit_config"), "config"
    )
    rviz_full_config = os.path.join(rviz_base, "moveit.rviz")
 
    rviz_node = Node(
        package="rviz2",
        executable="rviz2",
        name="rviz2",
        output="log",
        arguments=["-d", rviz_full_config],
        parameters=[
            moveit_config.robot_description,
            moveit_config.robot_description_semantic,
            moveit_config.planning_pipelines,
            moveit_config.robot_description_kinematics,
        ],
    )
 
    # Static TF
    static_tf = Node(
        package="tf2_ros",
        executable="static_transform_publisher",
        name="static_transform_publisher",
        output="log",
        arguments=["0.0", "0.0", "0.0", "0.0", "0.0", "0.0", "world", "base_link"],
    )
 
    # Publish TF
    robot_state_publisher = Node(
        package="robot_state_publisher",
        executable="robot_state_publisher",
        name="robot_state_publisher",
        output="both",
        parameters=[moveit_config.robot_description],
    )
 
    # ros2_control using FakeSystem as hardware
    ros2_controllers_path = os.path.join(
        get_package_share_directory("xxx_moveit_config"),
        "config",
        "ros2_controllers.yaml",
    )
    ros2_control_node = Node(
        package="controller_manager",
        executable="ros2_control_node",
        parameters=[ros2_controllers_path],
        remappings=[
            ("/controller_manager/robot_description", "/robot_description"),
        ],
        output="both",
    )
 
    joint_state_broadcaster_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=[
            "joint_state_broadcaster",
            "--controller-manager",
            "/controller_manager",
        ],
    )
 
    xxx_xx_controller_spawner = Node(
        package="controller_manager",
        executable="spawner",
        arguments=[
            "xxx_xx_controller",
            "--controller-manager",
            "/controller_manager",
        ],
    )
 
    # Warehouse mongodb server
    db_config = LaunchConfiguration("db")
    mongodb_server_node = Node(
        package="warehouse_ros_mongo",
        executable="mongo_wrapper_ros.py",
        parameters=[
            {"warehouse_port": 33829},
            {"warehouse_host": "localhost"},
            {"warehouse_plugin": "warehouse_ros_mongo::MongoDatabaseConnection"},
        ],
        output="screen",
        condition=IfCondition(db_config),
    )
 
    return LaunchDescription(
        [
            db_arg,
            rviz_node,
            static_tf,
            robot_state_publisher,
            run_move_group_node,
            ros2_control_node,
            mongodb_server_node,
            joint_state_broadcaster_spawner,
            xxx_xx_controller_spawner,
        ]
    )

xxx的地方根据自己的文件名进行替换，.urdf.xacro、.srdf、_moveit_config的地方都替换自己的文件名。

xxx_xx的是在创建moveit_setup_assistant配置机械臂包的时候自己填写的Group Name。

一共有8个地方需要改。

改完以后，编译，再source一下，应该就可以运行demo.launch.py了。