fix(gazebo): 修复Gazebo启动bug

docs/foxy/chapt10/10.2Gazebo仿真环境准备.md

@@ -101,7 +101,7 @@ Gazebo左上角->Edit->Building Editor
 比如在前面加载ROS2插件基础上再加载fishbot.world。
 
 ```
-gazebo --verbose -s  libgazebo_ros_factory.so  你的world文件目录/fishbot.world
+gazebo --verbose  -s libgazebo_ros_init.so -s  libgazebo_ros_factory.so 你的world文件目录/fishbot.world
 ```
 
 ### 3.2 在launch中加载World
@@ -113,7 +113,7 @@ gazebo --verbose -s  libgazebo_ros_factory.so  你的world文件目录/fishbot.w
 
     # Start Gazebo server
     start_gazebo_cmd = ExecuteProcess(
-        cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so', gazebo_world_path],
+        cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so', gazebo_world_path],
         output='screen')
 ```
 

docs/foxy/chapt9/9.2为URDF注入物理属性.md

@@ -325,9 +325,9 @@ string status_message             # Comments if available.
 启动gazebo，我们可以将命令行写成一个launch节点
 
 ```
-ExecuteProcess(
-   cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'],
-   output='screen')
+  ExecuteProcess(
+        cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so', gazebo_world_path],
+        output='screen')
 ```
 
 上面我们加载机器人是直接将XML格式的URDF复制过去进行加载的，这样很不方便，我们可以使用gazebo_ros为我们提供好的一个叫做`spawn_entity.py`节点，该节点支持从文件地址直接生产机器人到Gazebo。
@@ -364,7 +364,7 @@ def generate_launch_description():
 
     # Start Gazebo server
     start_gazebo_cmd = ExecuteProcess(
-        cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'],
+        cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so', gazebo_world_path],
         output='screen')
 
     # Launch the robot

docs/foxy/chapt9/9.3为FishBot配置两轮差速控制插件.md

@@ -432,9 +432,9 @@ def generate_launch_description():
 
     # Start Gazebo server
     start_gazebo_cmd = ExecuteProcess(
-        cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'],
-        output='screen')
-
+      cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so', gazebo_world_path],
+      output='screen')
+      
     # Launch the robot
     spawn_entity_cmd = Node(
         package='gazebo_ros', 

docs/humble/chapt9/get_started/3.在Gazebo加载机器人模型.md

@@ -19,7 +19,7 @@ sudo apt install ros-humble-gazebo-ros
 安装完成后，我们就可以通过下面的命令行来启动gazebo并加载ros2插件。
 
 ```shell
-gazebo --verbose -s libgazebo_ros_factory.so
+gazebo --verbose -s libgazebo_ros_init.so -s libgazebo_ros_factory.so 
 ```
 
 看到下面的日志和Gazebo界面代表启动成功
@@ -198,8 +198,8 @@ string status_message             # Comments if available.
 
 ```
 ExecuteProcess(
-   cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'],
-   output='screen')
+        cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so', gazebo_world_path],
+        output='screen')
 ```
 
 上面我们加载机器人是直接将XML格式的URDF复制过去进行加载的，这样很不方便，我们可以使用gazebo_ros为我们提供好的一个叫做`spawn_entity.py`节点，该节点支持从文件地址直接生产机器人到Gazebo。
@@ -235,8 +235,8 @@ def generate_launch_description():
     urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')
 
     # Start Gazebo server
-    start_gazebo_cmd = ExecuteProcess(
-        cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'],
+    start_gazebo_cmd =  ExecuteProcess(
+        cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so', gazebo_world_path],
         output='screen')
 
     # Launch the robot

docs/humble/chapt9/get_started/4.Gazebo仿真插件之两轮差速.md

@@ -431,10 +431,10 @@ def generate_launch_description():
     urdf_model_path = os.path.join(pkg_share, f'urdf/{urdf_name}')
 
     # Start Gazebo server
-    start_gazebo_cmd = ExecuteProcess(
-        cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so'],
+    start_gazebo_cmd =  ExecuteProcess(
+        cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so', gazebo_world_path],
         output='screen')
-
+        
     # Launch the robot
     spawn_entity_cmd = Node(
         package='gazebo_ros', 

docs/humble/chapt9/get_started/7.Gazebo仿真环境搭建.md

@@ -99,7 +99,7 @@ Gazebo左上角->Edit->Building Editor
 比如在前面加载ROS2插件基础上再加载fishbot.world。
 
 ```
-gazebo --verbose -s  libgazebo_ros_factory.so  你的world文件目录/fishbot.world
+gazebo --verbose  -s libgazebo_ros_init.so -s  libgazebo_ros_factory.so 你的world文件目录/fishbot.world
 ```
 
 ### 3.2 在launch中加载World
@@ -110,8 +110,8 @@ gazebo --verbose -s  libgazebo_ros_factory.so  你的world文件目录/fishbot.w
     gazebo_world_path = os.path.join(pkg_share, 'world/fishbot.world')
 
     # Start Gazebo server
-    start_gazebo_cmd = ExecuteProcess(
-        cmd=['gazebo', '--verbose', '-s', 'libgazebo_ros_factory.so', gazebo_world_path],
+    start_gazebo_cmd =  ExecuteProcess(
+        cmd=['gazebo', '--verbose','-s', 'libgazebo_ros_init.so', '-s', 'libgazebo_ros_factory.so', gazebo_world_path],
         output='screen')
 ```