-- robot_state_publisher configuration --><argname="tf_prefix"default=""doc="tf_prefix used for the robot."/><argname="tf_pub_rate"default="125"doc="Rate at which robot_state_publisher should publish transforms."/>
包含Robot State Publisher, a node and a class,并将机器的状态参数发送到tf2(坐标变换库)上。启动时,Robot State Publisher获取机器人URDF,并订阅话题获取每个关节的状态。这些关节状态用于更新运动树模型,然后将计算出 三维空间状态并发布到 tf2上。 publish: robot_description:the description of the robot URDF...
--运行joint_state_publisher节点,发布机器人的关节状态--><nodename="joint_state_publisher_mwRobot"pkg="joint_state_publisher"type="joint_state_publisher"/><!--运行robot_state_publisher节点,将机器人各个links、joints之间的关系通过tf发布--><nodename="mwRobot_state_publisher_mwRobot"pkg="robot_state...
Robot State Publisher deals with two different "classes" of joint types: fixed and movable. Fixed joints (with the type "fixed") are published to the transient_local /tf_static topic once on startup (transient_local topics keep a history of what they published, so a later subscription can...
Force control through publisher/subscriber Torque control parameters Speed limit for actionlib Cartesian/Joint control Parameterized base_frame for tf_generator Finger models are now updated in RViz Ring models added to URDF New demo file - gravity_compensated_mode.py ...
Run on virtual environment NOTE: You can run the following project in a virtual environment and get all the code and documentation by clicking on the ROSDS button Preparation It is assumed that you have ros already installed - because rosbot currently works on ros melodic it's necessar...
tf:用于机器人可移动关节变换 tf_static:用于机器人静态关键变换 subscribe: joint_states:获取其关节状态,并进行转换,并在tf2上发布 parameters robot_description(字符串) - URDF 形式的机器人的原始描述。这必须在启动时设置robot_state_publisher否则节点将无法启动。对此参数的更新将反映在主题中。
_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher" > 18 </node> 19 <node name="robot_state_publisher" pkg="robot_state_publisher" type="state_publisher"> 20 21 </node> 22 23 <node pkg="tf" type="static_transform_publisher" name="odom_left_wheel_broadcaster...
<!-- If needed, broadcast static tf for robot root --> <!-- We do not have a robot connected, so publish fake joint states --> <node name="joint_state_publisher" pkg="joint_state_publisher" type="joint_state_publisher"> <rosparam param="/source_list">[/move_group/fake_controlle...
$ rosrun tf tf_monitor Frames: Frame: /back_laser_link published by unknown_publisher Average Delay: 3.22686 Max Delay: 3.34766 Frame: /base_footprint published by unknown_publisher Average Delay: 3.34273 Max Delay: 3.38062 Frame: /base_link published by unknown_publisher Average Delay: 3.22751...