ros2机器人常规控制流程

The?joint_state_publisher?reads the?robot_description?parameter from the parameter server, finds all of the non-fixed joints and publishes a?JointState?message with all those joints defined.也就是说如果我们不需要控制机器人运动，只需要一个节点就可以了：/robot_state_publisher；根本用不到3个节点

 joint_state_publisher_gui = Node(
     package='joint_state_publisher_gui',
     executable='joint_state_publisher_gui',
     name='joint_state_publisher_gui',
     arguments=[sdf_file],
     output=['screen']
 )

Visualize in RViz and with the help of the?joint_state_publisher_gui, configure your robot model by adjusting joint states and poses using the slider.

See?documentation?for node API. This functionality is useful during initial development of the model. At this point we have achieved the first aim defined in?Setup.