通过发布到 cmd_vel 话题,开发者可以控制机器人的前进、后退、左转、右转以及停止等行为。 2. 如何通过cmd_vel发布速度指令来控制机器人 要通过 cmd_vel 控制机器人运动,你需要发布一个 geometry_msgs/Twist 类型的消息到 cmd_vel 话题。这个消息包含线速度(linear)和角速度(angular)两个字段,分别用于控制机器人...
1-3dcmd_vel速度话题详解, 视频播放量 3、弹幕量 0、点赞数 0、投硬币枚数 0、收藏人数 0、转发人数 0, 视频作者 大皮皮0912, 作者简介 ,相关视频:妈妈:管不了管不了…,就好这口,1-3cIMU话题详解,1-3eTF话题消息详解,江苏人吃螃蟹的速度,1-3bodom话题详解,9-3brobo
下面以ROS中的小海龟为例子来展示一下cmd_vel_mux的使用方法。编写一个test.launch文件如下,文件中先开启了cmd_vel_mux,然后运行turtlesim_node节点,最后开启了turtle_teleop_key键盘控制节点: <launch><includefile="$(find yocs_cmd_vel_mux)/launch/standalone.launch"/><nodepkg="turtlesim"type="turtlesim_n...
下载后catkin_make编译yocs_cmd_vel_mux功能包,并去param文件夹中参考example.yaml去配置自己的映射。 给大家一个博主的配置作为参考: subscribers:- name:"Navigation control"topic:"movebase/cmd_vel/navigation"timeout:0.5priority...
速度控制话题按优先级输出-cmd_vel ROS Y 一般我们的速度控制发布话题会取名为“cmd_vel”, 接受也叫这个,但如果有多个发布节点呢,接受该听谁的,笔者曾经就在机器人调试发现机器人运动卡顿,经过调试才发现原来手柄开着一直发布零指令。虽然可以通过特殊按键进行触发控制,但这岂不是又要配置。于是控制多路切换出现了...
Hi, As a key community project using Nav2, I wanted to drop you a note that I am in the process of changing the default cmd_vel topic type from Twist to TwistStamped in efforts of enabling a broader set of applications and safety constraints. This has been an on-going discussion over...
Add a description, image, and links to thecmd-veltopic page so that developers can more easily learn about it. Add this topic to your repo To associate your repository with thecmd-veltopic, visit your repo's landing page and select "manage topics."...
("turtle1/cmd_vel");this->createWallFreq(PUBLISH_FREQUENCY,(ros2::CallbackFunc)publishVel,nullptr,publisher_);}};WiFiUDP udp;voidsetup(){WiFi.begin(SSID,SSID_PW);while(WiFi.status()!=WL_CONNECTED);ros2::init(&udp,AGENT_IP,AGENT_PORT);linx_mid=analogRead(A6);angz_mid=analogRead(A0)...
用的rosserial做的,直接写了个cmd_vel的节点在Arduino Nano上面,rosserial真是个好东西! 不多说废话,贴代码! #include<ros.h> #include<std_msgs/String.h>#include"geometry_msgs/Twist.h" ros::NodeHandle nh; geometry_msgs::Twist msg;ros::Publishercmd_vel...
cfg include launch cmd_vel_mux.launch reconfigure.launch standalone.launch param plugins src .cproject .gitignore .project .pydevproject CHANGELOG.rst CMakeLists.txt LICENSE package.xml yocs_controllers yocs_diff_drive_pose_controller yocs_joyop ...