odom(nav_msgs/Odometry):里程计话题数据,来源于轮式里程计; # nav_msgs/Odometry Header header string child_frame_id geometry_msgs/PoseWithCovariance pose # 位置数据 geometry_msgs/TwistWithCovariance twist # 速度数据 imu_data(sensor_msgs/Imu) Header header geometry_msgs/Quaternion orientation # 用四...
1、geometry_msgs/Pose.msg位姿 1Point position2Quaternion orientation 2、geometry_msgs/Pose2D.msg更推荐使用3D 1float64 x2float64 y3float64 theta 3、geometry_msgs/PoseArray.msg位姿数组 1std_msgs/Header header2geometry_msgs/Pose[] poses 4、geometry_msgs/Quaternion.msg四元数 1float64 x2float64 y3...
map (nav_msgs/OccupancyGrid) # 定时更新的栅格地图数据 slam_out_pose (geometry_msgs/PoseStamped) # 没有协方差的机器人位姿估计 poseupdate (geometry_msgs/PoseWithCovarianceStamped) # 估计的机器人姿态和不确定性的高斯估计 Service(服务) dynamic_map (nav_msgs/GetMap) # 调用此服务以获得地图数据 reset...
也会发布geometry_msgs/Pose2D格式的二维指北角话题,话题名默认为/mag_pose_2d。 float64 x float64 y float64 theta # 指北角 1. 2. 3. 轨迹可视化 GPS GPS+IMU 源码 链接:https://pan.baidu.com/s/1xG-Hmpuv_GSkeDP47lfApA提取码:armd
1、geometry_msgs/Pose.msg位姿 1 Point position 2 Quaternion orientation 2、geometry_msgs/Pose2D.msg更推荐使⽤3D 1 float64 x 2 float64 y 3 float6 4 theta 3、geometry_msgs/PoseArray.msg位姿数组 1 std_msgs/Header header 2 geometry_msgs/Pose[] poses 4、geometry_msgs/Quaternion.msg四元数 ...
geometry_msgs/Pose2D geometry_msgs/PoseArray geometry_msgs/PoseStamped geometry_msgs/PoseWithCovariance geometry_msgs/PoseWithCovarianceStamped geometry_msgs/Quaternion geometry_msgs/QuaternionStamped geometry_msgs/Transform geometry_msgs/TransformStamped geometry_msgs/Twist geometry_msgs/TwistStamped geometry_msgs/...
'{ header: { frame_id: "base_link" }, pose: { position: { x: 1.0, y: 0, z: 0 }, orientation: { x: 0, y: 0, z: 0, w: 1 } } }' 让机器人后退一米,回到原来的位置: rostopic pub /move_base_simple/goal geometry_msgs/PoseStamped \ '{ header: { frame_id: "map" },...
goal_pub = nh.advertise<geometry_msgs::PoseStamped>("goal_my",1);while(ros::ok()) { ros::spinOnce(); }return0; } 参考链接: 2D Nav Goal和2D Pose Estimate功能介绍:rviz/UserGuide - ROS Wiki 2D Nav Goal和2D Pose Estimate的消息类型:navigation/Tutorials/Using rviz with the Navigation Sta...
geometry_msgs/Posepose geometry_msgs/Vector3scale std_msgs/ColorRGBAcolor durationlifetime boolframe_locked geometry_msgs/Point[]points std_msgs/ColorRGBA[]colors stringtext stringmesh_resource boolmesh_use_embedded_materials 1. 2. 3. 4.
geometry_msgs::msg::PoseStamped pose; pose.pose.position.x = start.pose.position.x + x_increment * i; pose.pose.position.y = start.pose.position.y + y_increment * i; pose.pose.position.z = 0.0; pose.pose.orientation.x = 0.0; ...