目前完成了比赛地图的建图，但是还没有实现定位导航

src/gc_navigation2_slamtoolbox/CMakeLists.txt

@@ -13,7 +13,7 @@ find_package(ament_cmake REQUIRED)
 # 查找slam_toolbox包
 find_package(slam_toolbox REQUIRED)
 install(
-  DIRECTORY launch config params maps
+  DIRECTORY launch config params maps world
   DESTINATION share/${PROJECT_NAME}
 )
 if(BUILD_TESTING)

src/gc_navigation2_slamtoolbox/config/slam_toolbox_async.yaml

@@ -12,7 +12,7 @@ slam_toolbox:
     # ============================ ROS 基础参数 =========================================
     odom_frame: odom                           # 里程计坐标系
     map_frame: map                             # 地图坐标系
-    base_frame: base_link                      # 机器人基座坐标系
+    base_frame: base_footprint                # 机器人基座坐标系（与 URDF 根帧一致）
     scan_topic: /scan                          # 激光雷达话题
     use_map_saver: true                        # 启用地图保存功能
     mode: mapping                              # mapping = 定位 + 实时建图（地图可更新）

src/gc_navigation2_slamtoolbox/launch/gc_slam_mapping.launch.py

@@ -0,0 +1,196 @@
+#!/usr/bin/env python3
+# ============================================================================
+# gc_slam_mapping.launch.py
+# 功能：Gazebo 仿真环境 + SLAM 建图启动文件
+#
+# 适用场景：
+#   - 在 Gazebo 仿真中遥控机器人建立环境地图
+#   - 在已有地图基础上增量更新
+#   - 单独调试 slam_toolbox 建图参数
+#
+# 架构：
+#   Gazebo 仿真器          — 加载 zhihui.world（智慧楼墙体环境）
+#   spawn_entity           — 在 Gazebo 中生成机器人模型
+#   robot_state_publisher  — 发布机器人 TF 树（URDF 模型）
+#   joint_state_publisher  — 发布关节状态
+#   async_slam_toolbox_node — 激光 SLAM 建图（mapping 模式）
+#                             发布 map→odom TF
+#                             发布 /map 话题（实时地图）
+#
+# 使用方式：
+#   ros2 launch gc_navigation2_slamtoolbox gc_slam_mapping.launch.py
+#
+# 保存地图：
+#   ros2 service call /slam_toolbox/serialize_map slam_toolbox/srv/SerializePoseGraph \
+#     "{filename: '/home/guoch/test_ws/src/gc_navigation2_slamtoolbox/maps/my_map'}"
+#   ros2 run nav2_map_server map_saver_cli -f <map_name>
+# ============================================================================
+
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import DeclareLaunchArgument, ExecuteProcess, SetEnvironmentVariable
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+from launch.substitutions import Command
+
+
+def generate_launch_description():
+    """生成 LaunchDescription，启动 Gazebo + slam_toolbox 建图"""
+
+    # ============================ 1. 包路径 =========================================
+    pkg_dir = get_package_share_directory('gc_navigation2_slamtoolbox')
+    origincar_urdf_dir = get_package_share_directory('origincar_description')
+
+    # ============================ 2. 声明启动参数 ====================================
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+
+    # slam_params_file: slam_toolbox 配置文件
+    slam_params_file = LaunchConfiguration(
+        'slam_params_file',
+        default=os.path.join(pkg_dir, 'config', 'slam_toolbox_async.yaml'))
+
+    # map_file_name: 可选，加载已有序列化地图继续建图
+    map_file_name = LaunchConfiguration('map_file_name', default='')
+
+    # model: 机器人 URDF 模型路径（用于 xacro 处理）
+    # origincar.urdf 是纯 URDF（不含 xacro 宏），xacro 会原样透传
+    default_model_path = os.path.join(
+        origincar_urdf_dir, 'urdf', 'origincar.urdf')
+    model = DeclareLaunchArgument(
+        name='model', default_value=default_model_path)
+
+    # spawn_model: Gazebo 中生成机器人用的 URDF（不含 xacro 宏）
+    spawn_model_path = os.path.join(
+        origincar_urdf_dir, 'urdf', 'origincar.urdf')
+
+    # ============================ 3. 设置 GAZEBO_MODEL_PATH ==========================
+    # 让 Gazebo 能找到 zhihui 模型，同时保留标准模型路径
+    gazebo_model_path = os.path.join(pkg_dir, 'world')
+    existing_gazebo_path = os.environ.get('GAZEBO_MODEL_PATH', '')
+    if existing_gazebo_path:
+        full_gazebo_path = f'{gazebo_model_path}:{existing_gazebo_path}'
+    else:
+        full_gazebo_path = gazebo_model_path
+    set_gazebo_model_path = SetEnvironmentVariable(
+        name='GAZEBO_MODEL_PATH',
+        value=full_gazebo_path
+    )
+
+    # ============================ 4. 启动 Gazebo 仿真器 ==============================
+    gazebo_world_path = os.path.join(pkg_dir, 'world', 'zhihui.world')
+    start_gazebo_cmd = ExecuteProcess(
+        cmd=['gazebo', '--verbose',
+             '-s', 'libgazebo_ros_init.so',
+             '-s', 'libgazebo_ros_factory.so',
+             gazebo_world_path],
+        output='screen'
+    )
+
+    # ============================ 5. 机器人初始位姿参数 ==============================
+    # 通过命令行参数覆盖，例如：
+    #   ros2 launch ... spawn_x:=1.0 spawn_y:=-2.0 spawn_yaw:=1.57
+    spawn_x = LaunchConfiguration('spawn_x', default='-4.311092')
+    spawn_y = LaunchConfiguration('spawn_y', default='-4.299756')
+    spawn_z = LaunchConfiguration('spawn_z', default='0.0')
+    spawn_yaw = LaunchConfiguration('spawn_yaw', default='0.0')
+
+    # 将位姿参数设为环境变量，供 spawn 命令使用
+    set_spawn_x = SetEnvironmentVariable('SPAWN_X', spawn_x)
+    set_spawn_y = SetEnvironmentVariable('SPAWN_Y', spawn_y)
+    set_spawn_z = SetEnvironmentVariable('SPAWN_Z', spawn_z)
+    set_spawn_yaw = SetEnvironmentVariable('SPAWN_YAW', spawn_yaw)
+
+    # ============================ 6. 在 Gazebo 中生成机器人 ==========================
+    # 通过 bash 读取环境变量，确保位姿参数正确传递
+    robot_name_in_model = 'mycar'
+    spawn_entity_cmd = ExecuteProcess(
+        cmd=['bash', '-c',
+             'ros2 run gazebo_ros spawn_entity.py '
+             '-entity mycar '
+             f'-file {spawn_model_path} '
+             '-x $SPAWN_X -y $SPAWN_Y -z $SPAWN_Z -Y $SPAWN_YAW'],
+        output='screen'
+    )
+
+    # ============================ 7. robot_state_publisher ===========================
+    robot_description = ParameterValue(
+        Command(['xacro ', LaunchConfiguration('model')]),
+        value_type=str
+    )
+    robot_state_publisher_node = Node(
+        package='robot_state_publisher',
+        executable='robot_state_publisher',
+        name='robot_state_publisher',
+        output='screen',
+        parameters=[{
+            'robot_description': robot_description,
+            'use_sim_time': True,
+            'publish_frequency': 30.0,
+        }],
+    )
+
+    # ============================ 8. joint_state_publisher ===========================
+    joint_state_publisher_node = Node(
+        package='joint_state_publisher',
+        executable='joint_state_publisher',
+        name='joint_state_publisher',
+        output='screen',
+        parameters=[{'use_sim_time': use_sim_time}],
+    )
+
+    # ============================ 9. slam_toolbox 建图节点 ============================
+    slam_toolbox_node = Node(
+        package='slam_toolbox',
+        executable='async_slam_toolbox_node',
+        name='slam_toolbox',
+        output='screen',
+        parameters=[
+            slam_params_file,
+            {
+                'use_sim_time': use_sim_time,
+                'map_file_name': map_file_name,
+            },
+        ],
+    )
+
+    # ============================ 10. 组装 LaunchDescription =========================
+    return LaunchDescription([
+        DeclareLaunchArgument(
+            'use_sim_time',
+            default_value='true',
+            description='使用仿真时间（Gazebo=true, 实车=false)'),
+        DeclareLaunchArgument(
+            'slam_params_file',
+            default_value=os.path.join(pkg_dir, 'config', 'slam_toolbox_async.yaml'),
+            description='slam_toolbox 参数配置文件路径'),
+        DeclareLaunchArgument(
+            'map_file_name',
+            default_value='',
+            description='已有序列化地图路径（.posegraph），留空则从零开始建图'),
+        DeclareLaunchArgument(
+            'spawn_x', default_value='-4.311092',
+            description='机器人初始 x 坐标（m）'),
+        DeclareLaunchArgument(
+            'spawn_y', default_value='-4.299756',
+            description='机器人初始 y 坐标（m）'),
+        DeclareLaunchArgument(
+            'spawn_z', default_value='0.0',
+            description='机器人初始 z 坐标（m）'),
+        DeclareLaunchArgument(
+            'spawn_yaw', default_value='0.0',
+            description='机器人初始偏航角（rad）'),
+        model,
+
+        set_gazebo_model_path,
+        set_spawn_x,
+        set_spawn_y,
+        set_spawn_z,
+        set_spawn_yaw,
+        start_gazebo_cmd,
+        spawn_entity_cmd,
+        robot_state_publisher_node,
+        joint_state_publisher_node,
+        slam_toolbox_node,
+    ])

src/gc_navigation2_slamtoolbox/maps/zhihui.yaml

@@ -0,0 +1,7 @@
+image: zhihui.pgm
+mode: trinary
+resolution: 0.05
+origin: [-4.98, -4.71, 0]
+negate: 0
+occupied_thresh: 0.65
+free_thresh: 0.25

src/gc_navigation2_slamtoolbox/world/zhihui/model.config

@@ -0,0 +1,11 @@
+<?xml version="1.0" ?>
+<model>
+    <name>zhihui</name>
+    <version>1.0</version>
+    <sdf version="1.7">model.sdf</sdf>
+    <author>
+        <name></name>
+        <email></email>
+    </author>
+    <description></description>
+</model>

src/gc_navigation2_slamtoolbox/world/zhihui/model.sdf

@@ -0,0 +1,471 @@
+<?xml version='1.0'?>
+<sdf version='1.7'>
+  <model name='zhihui'>
+    <pose>-2.11635 -1.73906 0 0 -0 0</pose>
+    <link name='Wall_12'>
+      <collision name='Wall_12_Collision'>
+        <geometry>
+          <box>
+            <size>1.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_12_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-1.61999 -0.744014 0 0 -0 0</pose>
+    </link>
+    <link name='Wall_15'>
+      <collision name='Wall_15_Collision'>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_15_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>1.62754 -0.744014 0 0 -0 0</pose>
+    </link>
+    <link name='Wall_17'>
+      <collision name='Wall_17_Collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_17_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-0.827543 -0.3078 0 0 -0 1.5708</pose>
+    </link>
+    <link name='Wall_19'>
+      <collision name='Wall_19_Collision'>
+        <geometry>
+          <box>
+            <size>1 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_19_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>0.327543 -0.319014 0 0 -0 1.5708</pose>
+    </link>
+    <link name='Wall_2'>
+      <collision name='Wall_2_Collision'>
+        <geometry>
+          <box>
+            <size>5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_2_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>0.062177 -2.89677 0 0 -0 0</pose>
+    </link>
+    <link name='Wall_29'>
+      <collision name='Wall_29_Collision'>
+        <geometry>
+          <box>
+            <size>3.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_29_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>3.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-0.305988 0.758719 0 0 -0 0</pose>
+    </link>
+    <link name='Wall_31'>
+      <collision name='Wall_31_Collision'>
+        <geometry>
+          <box>
+            <size>3.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_31_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>3.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-0.300519 2.09188 0 0 -0 0</pose>
+    </link>
+    <link name='Wall_33'>
+      <collision name='Wall_33_Collision'>
+        <geometry>
+          <box>
+            <size>1.5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_33_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>1.65085 1.41824 0 0 -0 -1.5708</pose>
+    </link>
+    <link name='Wall_36'>
+      <collision name='Wall_36_Collision'>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_36_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.75 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>2.3125 1.40828 0 0 -0 1.5708</pose>
+    </link>
+    <link name='Wall_38'>
+      <collision name='Wall_38_Collision'>
+        <geometry>
+          <box>
+            <size>5.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_38_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>5.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-0.19189 2.74413 0 0 -0 3.14159</pose>
+    </link>
+    <link name='Wall_4'>
+      <collision name='Wall_4_Collision'>
+        <geometry>
+          <box>
+            <size>2 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_4_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>2.6265 -1.8264 0 0 -0 1.5708</pose>
+    </link>
+    <link name='Wall_40'>
+      <collision name='Wall_40_Collision'>
+        <geometry>
+          <box>
+            <size>1.5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_40_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>1.5 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-2.25486 1.43754 0 0 -0 -1.5708</pose>
+    </link>
+    <link name='Wall_44'>
+      <collision name='Wall_44_Collision'>
+        <geometry>
+          <box>
+            <size>3 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_44_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>3 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-2.89932 1.47176 0 0 -0 -1.5708</pose>
+    </link>
+    <link name='Wall_46'>
+      <collision name='Wall_46_Collision'>
+        <geometry>
+          <box>
+            <size>2.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_46_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.25 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-1.87754 0.1172 0 0 -0 3.14159</pose>
+    </link>
+    <link name='Wall_48'>
+      <collision name='Wall_48_Collision'>
+        <geometry>
+          <box>
+            <size>2.13496 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_48_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2.13496 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>1.32002 0.107134 0 0 -0 0.001157</pose>
+    </link>
+    <link name='Wall_6'>
+      <collision name='Wall_6_Collision'>
+        <geometry>
+          <box>
+            <size>2 0.15 2.5</size>
+          </box>
+        </geometry>
+        <pose>0 0 1.25 0 -0 0</pose>
+      </collision>
+      <visual name='Wall_6_Visual'>
+        <pose>0 0 1.25 0 -0 0</pose>
+        <geometry>
+          <box>
+            <size>2 0.15 2.5</size>
+          </box>
+        </geometry>
+        <material>
+          <script>
+            <uri>file://media/materials/scripts/gazebo.material</uri>
+            <name>Gazebo/Grey</name>
+          </script>
+          <ambient>1 1 1 1</ambient>
+        </material>
+        <meta>
+          <layer>0</layer>
+        </meta>
+      </visual>
+      <pose>-2.50971 -1.81518 0 0 -0 1.5708</pose>
+    </link>
+    <static>1</static>
+  </model>
+</sdf>

src/origincar_description/world/zhihui.world

@@ -0,0 +1,79 @@
+<sdf version='1.7'>
+  <world name='default'>
+    <!-- ===== 光照 ===== -->
+    <light name='sun' type='directional'>
+      <cast_shadows>1</cast_shadows>
+      <pose>0 0 10 0 -0 0</pose>
+      <diffuse>0.8 0.8 0.8 1</diffuse>
+      <specular>0.2 0.2 0.2 1</specular>
+      <attenuation>
+        <range>1000</range>
+        <constant>0.9</constant>
+        <linear>0.01</linear>
+        <quadratic>0.001</quadratic>
+      </attenuation>
+      <direction>-0.5 0.1 -0.9</direction>
+    </light>
+
+    <!-- ===== 地面 ===== -->
+    <model name='ground_plane'>
+      <static>1</static>
+      <link name='link'>
+        <collision name='collision'>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <surface>
+            <friction>
+              <ode>
+                <mu>100</mu>
+                <mu2>50</mu2>
+              </ode>
+            </friction>
+            <contact>
+              <ode />
+            </contact>
+          </surface>
+        </collision>
+        <visual name='visual'>
+          <cast_shadows>0</cast_shadows>
+          <geometry>
+            <plane>
+              <normal>0 0 1</normal>
+              <size>100 100</size>
+            </plane>
+          </geometry>
+          <material>
+            <script>
+              <uri>file://media/materials/scripts/gazebo.material</uri>
+              <name>Gazebo/Grey</name>
+            </script>
+          </material>
+        </visual>
+      </link>
+    </model>
+
+    <!-- ===== 智慧楼墙体模型 ===== -->
+    <include>
+      <uri>model://zhihui</uri>
+    </include>
+
+    <!-- ===== 物理引擎 ===== -->
+    <gravity>0 0 -9.8</gravity>
+    <physics type='ode'>
+      <max_step_size>0.001</max_step_size>
+      <real_time_factor>1</real_time_factor>
+      <real_time_update_rate>1000</real_time_update_rate>
+    </physics>
+
+    <!-- ===== 场景 ===== -->
+    <scene>
+      <ambient>0.4 0.4 0.4 1</ambient>
+      <background>0.7 0.7 0.7 1</background>
+      <shadows>1</shadows>
+    </scene>
+  </world>
+</sdf>