修复了雷达扫描范围的bug，修复了里程计数据的发布者冲突的问题。目前存在问题：odom坐标系在运动过程中还是会飘

src/origincar_base/launch/origincar_bringup.launch.py

@@ -37,12 +37,6 @@ def generate_launch_description():
     )
 
     
-    base_to_link = launch_ros.actions.Node(
-            package='tf2_ros', 
-            executable='static_transform_publisher', 
-            name='base_to_link',
-            arguments=['0', '0', '0','0', '0','0','base_footprint','base_link'],#arguments=['0.41', '0.12', '0','0', '0','0','base_footprint','base_link'],
-    )
     
 
     base_to_gyro = launch_ros.actions.Node(
@@ -73,10 +67,21 @@ def generate_launch_description():
             remappings=[("odometry/filtered", "odom_combined")]
             )
                               
+    # 从 URDF 生成 robot_description，供 joint_state_publisher 和 robot_state_publisher 共用
+    from launch_ros.parameter_descriptions import ParameterValue
+    from launch.substitutions import Command
+
+    robot_description = ParameterValue(
+        Command(['xacro ', os.path.join(
+            get_package_share_directory('origincar_description'),
+            'urdf', 'origincar.urdf')]),
+        value_type=str)
+
     joint_state_publisher_node = launch_ros.actions.Node(
             package='joint_state_publisher', 
             executable='joint_state_publisher', 
             name='joint_state_publisher',
+            parameters=[{'robot_description': robot_description}],
     )
 
     ld = LaunchDescription()
@@ -84,7 +89,6 @@ def generate_launch_description():
     ld.add_action(carto_slam_dec)
     ld.add_action(akmcar_dec)
     ld.add_action(origincar_base)
-    ld.add_action(base_to_link)
     ld.add_action(base_to_gyro)
     ld.add_action(joint_state_publisher_node)
     ld.add_action(choose_car)