1.导入nav2_simple_commander from nav2_simple_commander.robot_navigator import BasicNavigator import rclpy from copy import deepcopy 初始化BasicNavigator rclpy.init() nav = BasicNavigator() navigator.waitUntilNav2Active() 2.初始化位置 # ===初始化位置,代替rviz2的2D Pose Estimate=== initial_pose...
可以使用这个简单指挥官抢占相同类型的命令(例如,可以用另一个goToPose()抢占goToPose()),但是如果在goToPose()和 goThroughPoses()或followWaypoints()之间进行切换,则必须明确取消当前命令并发出一条新命令。 from nav2_simple_commander.robot_navigator import BasicNavigator import rclpy rclpy.init() nav = Bas...
从2022年5月23号开始,教程将开始向humble版本迁移,该部分内容将在humble版本发布。 1.导入nav2_simple_commander from nav2_simple_commander.robot_navigator import BasicNavigator import rclpy from copy import deepcopy 1. 2. 3. 初始化BasicNavigator rclpy.init() nav = BasicNavigator() navigator.waitUntil...
from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult import rclpy from rclpy.duration import Duration def main(): rclpy.init() navigator = BasicNavigator() # 等待导航启动完成 navigator.waitUntilNav2Active() # 设置目标点坐标 goal_pose = PoseStamped() goal_pose.header.frame...
nav2_simple_commander nav2_smac_planner nav2_smoother nav2_system_tests nav2_theta_star_planner nav2_util include src CMakeLists.txt array_parser.cpp costmap.cpp lifecycle_bringup_commandline.cpp lifecycle_node.cpp lifecycle_service_client.cpp lifecycle_utils.cpp node_thread.cp...
nav2_simple_commander/nav2_simple_commander/robot_navigator.py Outdated Show resolved nav2_waypoint_follower/src/waypoint_follower.cpp Outdated Show resolved nav2_waypoint_follower/src/waypoint_follower.cpp Outdated Show resolved pepisg and others added 5 commits September 16, 2023 15:22 Update ...
robot_localization使用这个投影系统将WGS84参考系统中的GPS测量转换为以GPS所在网格区的原点为中心的笛卡尔坐标系统,通过navsat_transform节点实现。这个节点符合REP 103中的ENU约定,意味着UTM坐标系的+x轴指向东,+y轴指向北,+z轴指向上。 在现实世界中,GPS传感器可能会产生噪声:对于独立GPS,你应该在良好条件下期望1...
from nav2_simple_commander.robot_navigator import BasicNavigator import rclpy rclpy.init() nav = BasicNavigator() # ... nav.setInitialPose(init_pose) nav.waitUntilNav2Active() # if autostarted, else use lifecycleStartup() # ...
这个This PR 介绍新包Nav2,称为 nav2_simple_commander 。它是一套功能对象, BasicNavigator ,可用于构建Nav2供电自治任务Python3不含关于自己Nav2,ROS 2,或Action服务器细节。它包含一个简单API以普通类型 (主要 PoseStamped ) 和处...
1.导入nav2_simple_commander from nav2_simple_commander.robot_navigator import BasicNavigator import rclpy from copy import deepcopy 初始化BasicNavigator rclpy.init() nav = BasicNavigator() navigator.waitUntilNav2Active() 2.初始化位置 # ===初始化位置,代替rviz2的2D Pose Estimate=== initial_pose...