add&fix：修改了文件名称以及添加了slam定位的卵巢文件

src/gc_navigation2_slamtoolbox/launch/gc_nav2_with_amcl.launch.py

@@ -0,0 +1,86 @@
+import os
+from ament_index_python.packages import get_package_share_directory
+from launch import LaunchDescription
+from launch.actions import IncludeLaunchDescription, DeclareLaunchArgument, TimerAction
+from launch.launch_description_sources import PythonLaunchDescriptionSource
+from launch.substitutions import LaunchConfiguration
+from launch_ros.actions import Node
+from launch_ros.parameter_descriptions import ParameterValue
+from launch.substitutions import Command
+from launch.actions import ExecuteProcess
+
+
+def generate_launch_description():
+    ld = LaunchDescription()
+
+    # =============================1.定位到包的地址=============================================================
+    gc_navigation_fish_dir = get_package_share_directory(
+        'gc_navigation2_slamtoolbox')
+    nav2_bringup_dir = get_package_share_directory('nav2_bringup')
+    origincar_urdf_dir = get_package_share_directory(
+        'origincar_description')
+
+    # =============================2.声明参数，获取配置文件路径===================================================
+    # use_sim_time 这里要设置成true,因为gazebo是仿真环境，其时间是通过/clock话题获取，而不是系统时间
+    use_sim_time = LaunchConfiguration('use_sim_time', default='true')
+    map_yaml_path = LaunchConfiguration('map', default=os.path.join(
+        gc_navigation_fish_dir, 'maps', 'my_map.yaml'))
+    nav2_param_path = LaunchConfiguration('params_file', default=os.path.join(
+        gc_navigation_fish_dir, 'params', 'gc_navigation_amcl.yaml'))
+
+    # =============================3.声明启动launch文件，传入：地图路径、是否使用仿真时间以及nav2参数文件==============
+    nav2_bringup_launch = IncludeLaunchDescription(
+        PythonLaunchDescriptionSource(
+            [nav2_bringup_dir, '/launch', '/bringup_launch.py']),
+        launch_arguments={
+            'map': map_yaml_path,
+            'use_sim_time': use_sim_time,
+            'params_file': nav2_param_path}.items(),
+    )
+
+
+    # =============================4.Gazebo仿真设置==========================================================
+    robot_name_in_model = 'mycar'
+    default_model_path = os.path.join(
+        origincar_urdf_dir, "urdf", "origincar.urdf")
+    model = DeclareLaunchArgument(
+        name="model", default_value=default_model_path)
+
+    gazebo_world_path = os.path.join(origincar_urdf_dir, 'world/test.world')
+    start_gazebo_cmd = ExecuteProcess(
+        cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_init.so',
+             '-s', 'libgazebo_ros_factory.so', gazebo_world_path],
+        output='screen')
+
+    spawn_entity_cmd = Node(
+        package='gazebo_ros',
+        executable='spawn_entity.py',
+        arguments=['-entity', robot_name_in_model,
+                   '-file', default_model_path],
+        output='screen'
+    )
+
+    robot_description = ParameterValue(Command(["xacro ", LaunchConfiguration("model")]),
+                                       value_type=str)
+
+    robot_state_publisher = Node(
+        package="robot_state_publisher",
+        executable="robot_state_publisher",
+        parameters=[{"robot_description": robot_description,
+                     'use_sim_time': True, 'publish_frequency': 30.0}]
+    )
+
+    # 2.启动 joint_state_publisher 节点发布非固定关节状态
+    joint_state_publisher = Node(
+        package="joint_state_publisher",
+        executable="joint_state_publisher"
+    )
+
+    ld.add_action(model)
+    ld.add_action(nav2_bringup_launch)
+    ld.add_action(start_gazebo_cmd)
+    ld.add_action(spawn_entity_cmd)
+    ld.add_action(robot_state_publisher)
+    # ld.add_action(joint_state_publisher)
+
+    return ld