sudo apt install ros-humble-hardware-interface \ ros-humble-xacro \ ros-humble-imu-sensor-broadcaster \ ros-humble-diff-drive-controller \ ros-humble-position-controllers \ ros-humble-gripper-controllers \ ros-humble-joint-state-broadcaster \ ros-humble-joint-trajectory-controller \ ros-humble-cont...
controller_manager:ros__parameters:update_rate:10# Hzjoint_state_broadcaster:type:joint_state_broadcaster/JointStateBroadcastertest_controller:type:diff_test_controller/DiffTestControllertest_controller:ros__parameters:left_wheel_names:["left_wheel_joint"]right_wheel_names:["right_wheel_joint"]wheel_sepa...
Done Reading state information... Done The following additional packages will be installed: ros-humble-control-msgs ros-humble-controller-interface ros-humble-controller-manager ros-humble-controller-manager-msgs ros-humble-hardware-interface ros-humble-realtime-tools ros-humble-ros2-control-test-assets...
复制 ros2 topic list/arm_controller/joint_trajectory/arm_controller/state/arm_controller/transition_event/base_imu/clock/diagnostics/distance/sonar_base/dynamic_joint_states/floating_base_pose_simulated/gripper_controller/joint_trajectory/gripper_controller/state/gripper_controller/transition_event/ground_truth...
ros-humble-action-msgs ros-humble-pointcloud-to-laserscan-dbgsymros-humble-action-msgs-dbgsym ros-humble-position-controllersros-humble-action-tutorials-cpp ros-humble-position-controllers-dbgsymros-humble-action-tutorials-cpp-dbgsym ros-humble-pybind11-vendorros-humble-action-tutorials-interfaces ros-...
ros2_controllers-not-released.jazzy.repos ros2_controllers-not-released.rolling.repos ros2_controllers.humble.repos ros2_controllers.iron.repos ros2_controllers.jazzy.repos ros2_controllers.rolling.reposBreadcrumbs ros2_controllers /joint_trajectory_controller / joint_trajectory_plugin.xmlL...
$ sudo apt install ros-humble-gazebo-* 运行 通过这句命令就可以启动啦: $ ros2 launch gazebo_ros gazebo.launch.py 为保证模型顺利加载,请将离线模型下载并放置到~/.gazebo/models路径下,下载链接如下: https://github.com/osrf/gazebo_mo...
ros-humble-ament-index-python ros-humble-rcl-logging-interface-dbgsym ros-humble-ament-lint ros-humble-rcl-logging-noop ros-humble-ament-lint-auto ros-humble-rcl-logging-noop-dbgsym ros-humble-ament-lint-cmake ros-humble-rcl-logging-spdlog ...
gz_node, gz_joint_state_topic); auto gz_chassis_cmd = std::make_shared<rmoss_gz_base::GzChassisCmd>(gz_node, gz_chassis_cmd_topic); // 创建底盘控制器 auto chassis_controller = std::make_shared<rmoss_gz_base::ChassisController>( ros_node, "robot_base/chassis_cmd", gz_chassis_cmd...
2.ROS2为托管启动，用户可以指定节点启动顺序；3.ROS2还去除了ros master这个中心节点管理器，改进了ROS...