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Date: Sun, 14 Dec 2025 15:45:10 +0800
Subject: [PATCH] =?UTF-8?q?=E5=88=A0=E9=99=A4=20=E5=88=9B=E5=BB=BA?=
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---
 创建和显示机器人所用的launch文件 | 41 --------------------------------
 1 file changed, 41 deletions(-)
 delete mode 100644 创建和显示机器人所用的launch文件

diff --git a/创建和显示机器人所用的launch文件 b/创建和显示机器人所用的launch文件
deleted file mode 100644
index e4a6498..0000000
--- a/创建和显示机器人所用的launch文件
+++ /dev/null
@@ -1,41 +0,0 @@
-import launch
-import launch_ros
-from ament_index_python.packages import get_package_share_directory
-import os 
-def generate_launch_description():
-    #获取urdf路径
-    urdf_package_path = get_package_share_directory("fishbot_description")
-    default_rviz_config_path = os.path.join(urdf_package_path,"config","display_robot_model.rviz")
-    default_urdf_path = os.path.join(urdf_package_path,"urdf","first_robot.urdf")
-    #声明一个urdf目录的参数，方便修改
-    action_declare_arg_mode_path = launch.actions.DeclareLaunchArgument(
-        name="model",default_value=str(default_urdf_path),description="加载模型文件路径"
-    )
-    #通过文件路径，获取内容，并转化成数值对象，以供传入 robot_state_publisher
-    substitutions_command_result = launch.substitutions.Command(["xacro ",launch.substitutions.LaunchConfiguration("model")])
-    
-    robot_description_value = launch_ros.parameter_descriptions.ParameterValue(substitutions_command_result,value_type=str)
-
-    action_robot_state_publisher = launch_ros.actions.Node(
-        package="robot_state_publisher",
-        executable="robot_state_publisher",
-        parameters=[{f"robot_description":robot_description_value}]
-    )
-    
-    action_joint_state_publisher = launch_ros.actions.Node(
-        package="joint_state_publisher",
-        executable="joint_state_publisher"
-    )
-
-    action_rviz_node = launch_ros.actions.Node(
-        package="rviz2",
-        executable="rviz2",
-        arguments=["-d",default_rviz_config_path]
-    )
-    
-    return launch.LaunchDescription([
-        action_declare_arg_mode_path,
-        action_robot_state_publisher,
-        action_joint_state_publisher,
-        action_rviz_node,
-    ])
\ No newline at end of file