self.joint_states.header.frame_id = "" # 关节名称 self.joint_states.name = ['left_wheel_joint','right_wheel_joint'] # 关节的位置 self.joint_states.position = [0.0,0.0] # 关节速度 self.joint_states.velocity = self.joint
首先,需要确认在ROS 2驱动中joint_states的命名空间是什么。这通常可以在驱动的代码中找到,或者通过ros2 topic list和ros2 topic echo /your_topic_name等命令来查看发布的joint_states消息。 在RViz 2中配置RobotState Display插件: 打开RViz 2,并确保已经添加了RobotState Display插件。如果没有,可以通过左侧的“...
(2) pid 52558: ['robot_state_publisher', '/Users/karsten/workspace/osrf/ros2_ws/src/ros2/demos/dummy_robot/dummy_robot_bringup/launch/single_rrbot.urdf'] (stderr > stdout, all > console) (3) pid 52559: ['dummy_joint_states'] (stderr > stdout, all > console) [2] Initialize ur...
[STEP-2] 转到Window > Graph Editors > Action Graph,创建一个动作图。 [STEP-3] 将以下OmniGraph节点添加到动作图中: On Playback Tick节点:用于每帧执行其他图节点。 Isaac Read Simulation Time节点:用于获取当前模拟时间。 ROS2 Publish Joint State节点:用于将ROS2关节状态发布到/joint_states主题。 ROS2...
ROS_learn · 2篇 此功能包用于URDF机器人模型发布其所有可移动关节的值。 publish: 系统中所有可移动关节的状态 subscribe: 订阅监听URDF文件话题,同时将发布关节值给./robot_descriptionstd_msgs/msg/String/robot_description/joint_states 若指定了参数(子函数?),则参数中命名的话题也会被订阅,同时会更新 ...
运行程序之后 通过 rostopic echo 命令查看信息如下: $ rostopic echo /joint_states --- header: seq: 1333 stamp: secs: 1573198571 nsecs: 845865011 frame_id: '' name: ['Link1', 'Link2', 'Link3', 'Link4', 'Link5'] position: [0.0, 0.0, 0.0, 0.0, 0.0] ...
Hi all, I have two ODrives working perfectly with ros2 control thanks to this repo. I'm just using simple velocity controllers. On the joint_states topic I get the joint states of my other ODrives perfectly, but the third one reports nan...
.joint_state_publisher从ROS参数服务器中读取robot_description参数, 找到所有non-fixedjoint,他们的JointState 消息到/joint_states话题...对显示产生的影响. 另外, 还发起了两个者节点, 分别joint_states和robot_state. 这也就是会由joint_states话题的原因 ...
joint_state_broadcaster joint_state_plugin.xml Latest commit Rename joint_state_controller -> joint_state_broadcaster (ros-control… Apr 8, 2021 f76d2c8·Apr 8, 2021 History History File metadata and controls 7 lines (7 loc) · 360 Bytes ...
Description I have developed ready-to-use Gazebo + MoveIt!2 simulation packages for ROS2 Foxy (which can be found here, and are public for everyone: https://github.com/IFRA-Cranfield/ros2_RobotSimulation), and I am now in the process of ...