这里我在询问了deepseek后才明白,ros2_control_node中一直未显式地加载入这些参数,但是却又能够在后续的load_controller中找到对应的参数的原因: ros2的rclcpp中有一个自动参数解析的机制, 能够将yaml自动解释。 具体来说,针对第三段代码将robot_controllers, 其等价于 ros2 run controller_manager ros2_control_no...
check_for_element(node_options_arguments, RCL_ROS_ARGS_FLAG)) @@ -3475,6 +3498,18 @@ rclcpp::NodeOptions ControllerManager::determine_controller_node_options( 3475 3498 node_options_arguments.push_back("use_sim_time:=true"); 3476 3499 } 3477 3500 3501 + // Add options parsed ...
controller_manager include/controller_manager controller_manager.hpp src controller_manager.cpp ros2_control_node.cpp 1 change: 1 addition & 0 deletions 1 controller_manager/include/controller_manager/controller_manager.hpp Original file line numberDiff line numberDiff line change @@ -577,6 +...
全部都得到解决了，结果如下： C:\ros_ws\webots_ros2>colcon build [1.903s] root DEBUG Using ...
ROS_Control是一个软件包,包括controller interface, controller manager,transmissions,hardware interfacesand control toolbox。它们共同组成的ROS_Control可以完成对机器人关节的状态读取和控制。 ros_controller负责根据关节目标和关节状态计算出关节命令。 hardware_interfaces负责与真正的机器人硬件打交道,让ros_control不必...
[ros2_control_node-1] [WARN] [1689705040.241254199] [RosbotImuSensor]: Feedback message from imu wasn’t received yet [spawner-3] [INFO] [1689705040.343607717] [spawner_joint_state_broadcaster]: Waiting for ‘/controller_manager’ services to be available ...
<node name="gripper_controller_spawner"pkg="controller_manager"type="spawner"args="gripper_controller"output="screen"respawn="false"/> </launch> 查看效果 运行命令 cd ~/catkin_ws source devel/setup.bash roslaunch ur_gazebo ur3_bringup.launch ...
图2 我们知道,ROS系统提供了一种具有抢占功能的CS(Client - Server)节点(node)通信方式,就是Actionlib,这里MoveIt 发布机器人运动消息序列就是采用这种通信方式(FollowJointTrajectoryAction 接口),以便机器人可以随时更新状态并覆盖掉未执行的老的状态。这个接口的使用方法在 rob_control.cpp 源码中有详细的使用方法,...
Connect PWM3 to 5 V through 1 kW resistor to program 2-phase opera- tion. 4 PHASE 5 VR_RDY Connect through resistor divider to Channel1 multi-phase switching node. VR ready. Open drain output set free after SS has finished in multi- phase and pulled low when triggering any protection ...
NSTreeNode NSType NSTypesetter NSTypesetterBehavior NSTypesetterControlCharacterAction NSUnderlinePattern NSUnderlineStyle NSUsableScrollerParts NSUserDefaultsController NSUserInterfaceCompressionOptions NSUserInterfaceItemIdentification_Extensions NSUserInterfaceLayoutDirection NSUserInterfaceLayoutOrientation NSView NSView....