controller_manager/src/ros2_control_node.cpp Outdated std::chrono::system_clock::time_point(std::chrono::nanoseconds(time.nanoseconds()))); }; auto const ok = []() { return rclcpp::ok(); }; auto const do_wor
manager_msgs Starting >>> vision_msgs Starting >>> realtime_tools Starting >>> ros2_control ...
This PR fixes the initial wrongly reported periodicity stats of the controller manager. This is happening as the initial iteration period is not properly scaled for this. This PR tends to fix this exact issue + also adds a wait for the node to wait for the proper clock to exist before con...
[ros2_control_node-1] [WARN] [1689705038.740265061] [RosbotImuSensor]: Feedback message from imu wasn’t received yet [ros2_control_node-1] [WARN] [1689705039.240611806] [RosbotImuSensor]: Feedback message from imu wasn’t received yet [ros2_control_node-1] [WARN] [1689705039.740933957] ...
首先运行一个自己开发的Action Server用于接受轨迹运行指令。其名称必须与ros_controllers.yaml中的name指定的名字一致。 然后运行move_group节点,载入机器人相关信息,并等待机器人操作节点的操控。 再运行一个自己设计的机器人操作节点,连接move_group进行关节轨迹运动操作,move_group则通过moveIt_simple_ controller_manag...
ros_control+Gazebo+controller_manager ros_control就是ROS为用户提供的应用与机器人之间的中间件,包含一系列控制器接口、传动装置接口、硬件接口、控制器工具箱等等,可以帮助机器人应用快速落地,提高开发效率。 https://www.ncnynl.com/archives/201708/1932.html 上图是ros_control的数据流图,可以更加... ...
[ros2_control_node-1]: process has died [pid 4453, exit code -6, cmd '/opt/ros/galactic/lib/controller_manager/ros2_control_node --ros-args --params-file /tmp/launch_params_8gt24rv4 --params-file /home/user/ros2_ws/install/my_robot_hardware_interface/share/my_robot_hardware_...
manager_msgs Starting >>> vision_msgs Starting >>> realtime_tools Starting >>> ros2_control ...
[ur_ros2_control_node-1] [INFO] [1655158418.350614127] [controller_manager]: controller_manager/test_controller_with_interfaces [ur_ros2_control_node-1] [INFO] [1655158418.350626261] [controller_manager]: diff_drive_controller/DiffDriveController[ur_ros2_control_node-1] [INFO] [1655158418.350637913...
Per discussion in #325 , I have added a few lines to controller_manager.cpp to set the controller node's use_sim_time parameter to match the controller_manager's when it is set to true. An INFO mes...