请调用如下命令,安装案例所需的两个功能包: sudo apt install ros-humble-joint-state-publisher sudo apt install ros-humble-joint-state-publisher-gui 2.新建功能包 终端下进入工作空间的src目录,调用如下命令创建C++功能包。 ros2 pkg create cpp06_urdf --build-type ament_cmake 功能包下新建 urdf、rv...
will be installed: python3-typeguard ros-humble-generate-parameter-library ros-humble-generate-parameter-library-py ros-humble-joint-state-broadcaster ros-humble-parameter-traits ros-humble-rsl ros-humble-tcb-span ros-humble-tl-expected 0 upgraded, 8 newly installed, 0 to remove and 0 not ...
rviz文件夹下是启动rviz2的一些配置文件,除此之外还启动了robot_state_publisher功能包用于发布机器人的模型状态,joint_state_publisher_gui功能包用于提供关节的图形交互拖拽条。 接着我们返回工作空间顶层,输入 colconbuildsourceinstall/setup.bash ros2 launch diff_test_control view_robot.launch.py 接下来就能看见...
ros-humble-ament-cmake-core ros-humble-radar-msgs ros-humble-ament-cmake-cppcheck ros-humble-radar-msgs-dbgsym ros-humble-ament-cmake-cpplint ros-humble-random-numbers ros-humble-ament-cmake-export-definitions ros-humble-random-numbers-dbgsym ros-humble-ament-cmake-export-dependencies ros-humble...
humble-ackermann-msgs720sudoaptinstallros-humble-launch-ros721sudoaptinstallros-humble-nav-msgs722sudoaptinstallros-humble-joint-state-publisher723sudoaptinstallros-humble-xacro724sudoaptinstallros-humble-lifecycle725sudoaptinstallros-humble-nav2-lifecycle-manager726sudoaptinstallros-humble-teleop-twist-...
humble-ackermann-msgs720sudo apt install ros-humble-launch-ros721sudo apt install ros-humble-nav-msgs722sudo apt install ros-humble-joint-state-publisher723sudo apt install ros-humble-xacro724sudo apt install ros-humble-lifecycle725sudo apt install ros-humble-nav2-lifecycle-manager726sudo apt ...
/opt/ros/humble/lib/libgazebo_ros_init.so /opt/ros/humble/lib/libgazebo_ros_joint_pose_trajectory.so /opt/ros/humble/lib/libgazebo_ros_joint_state_publisher.so /opt/ros/humble/lib/libgazebo_ros_node.so /opt/ros/humble/lib/libgazebo_ros_p3d.so ...
)returnLaunchDescription([ # Launch arguments #bag_filename_arg, 注释 # Nodes robot_state_publisher_node, cartographer_node, cartographer_occupancy_grid_node, rviz_node, #ros2_bag_play_cmd 注释 ]) https://docs.ros.org/en/humble/Tutorials.html#...
ros-humble-ament-lint-auto ros-humble-rcl-logging-noop-dbgsym ros-humble-ament-lint-cmake ros-humble-rcl-logging-spdlog ros-humble-ament-lint-common ros-humble-rcl-logging-spdlog-dbgsym ros-humble-ament-mypy ros-humble-rclpy ros-humble-ament-nodl ros-humble-rcl-yaml-param-parser ...
robot_state_publisher_node负责发布机器人模型信息robot_description,并将joint_states数据转换tf信息发布 rviz2_node负责显示机器人的信息 joint_state_publisher_gui,还有一个兄弟叫做joint_state_publisher两者区别在于joint_state_publisher_gui运行起来会跳出一个界面,通过界面可以操作URDF中能动的关节 修改setup.py 导...