https://github.com/ros-controls/ros_control/wiki/controller_interface — 三、Hardware Interface— Hardware Interface是controller和RobotHw沟通的接口,基本上和controllers的种类是对应的,同样可以自己创建需要的接口,可以参考: https://github.com/ros-controls/ros_contr...
<hardwareInterface>,在<actuator>和<joint>标记内时,它告诉gazebo_ros_control插件要加载什么硬件接口(位置,速度或力度接口)。当前仅实现力接口。 2、添加gazebo_ros_control插件 除了transmissions标签之外,还需要将一个gazebo插件添加到您的urdf中,该插件实际上会解析transmissions标签并加载适当的硬件接口和控制器管理...
joint部分主要是针对要设置的关节,hardwareInterface标签指定的是关节空间的接口类型。 actuator部分主要是针对驱动器部分进行设置,mechanicalReduction标签指定关节/执行器传动装置处的机械减速;hardwareInterface标签指定的是关节空间的接口类型。 关于接口类型的更多说明参考ros的官方解释。 2.差速驱动插件 差速驱动插件也是通...
MyRobot_hardware_interface.cpp #include<YOUR_PACKAGE_NAME/MYRobot_hardware_interface.h>MyRobot::MyRobot(ros::NodeHandle&nh):nh_(nh){// Declare all JointHandles, JointInterfaces and JointLimitInterfaces of the robot.init();// Create the controller managercontroller_manager_.reset(newcontroller...
Hardware Interface Hardware Interface是controller和RobotHw沟通的接口,基本上和controllers的种类是对应的,同样可以自己创建需要的接口,可以参考:https://github.com/ros-controls/ros_control/wiki/hardware_interface Transmissions Transmissions就是机器人的传动系统,机器人每个需要运动的关节都需要配置相应的Transmission,可...
*hardware_interface : 这个软件包包含了硬件接口的基类。 *transmission_interface : 这个软件包包含了传动(transmission)接口的接口类(差速、四杆联动、关节状态、位置和速度)。 2.不同类型的ROS控制器和硬件接口 包含标准ROS控制器的ROS软件包列表: *joint_position_controller : 这是关节位置控制器的简单实现。
{prefix}_wheel_joint" > <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface> </joint> <actuator name="${prefix}_wheel_joint_motor"> <hardwareInterface>hardware_interface/VelocityJointInterface</hardwareInterface> <mechanicalReduction>1</mechanicalReduction> </actuator> </...
hardware_interface::VelocityJointInterface: Velocity Profiled Velocity Cyclic Synchronous Velocity hardware_interface::EffortJointInterface: Profiled Torque Cyclic Synchronous Torque --- Drive operation modes All standardized drive modes are implemented, these modes can be substituted in sub classes and other...
4. How tointerface ROS with a car that follows the DBW interface Unit 1: Unit 0:Introduction 1. Introduction 2. Sensors 3. Autonomousnavigation 4. The DBWinterface for autonomous cars and CAN-Bus 5. Minimumrequirements for this course 6. Specialthanks Unit 2: Unit 1:Sensors 1. BasicSensor...
Integrating an existing robot into the ros2_control framework, an issue about parameterizing hardware interface came up. Concretely, the robot is rather complex with many sensors (FTS, cameras), tool changing system, many tools. Therefor...