对于刚体而言,在其通信插件ObjectCommunicationPlugin中,新建了std::shared_ptr<ambf_comm::RigidBody m_rigidBodyCommPtr(即 RosComServer):(一)在获取指令阶段(即函数afObjectCommunicationPlugin::rigidBodyFetchCommand(...)中),读取了当前 RosComSe
_params.max_global_plan_lookahead_dist, transformed_plan, &goal_idx, &tf_plan_to_global)){ROS_WARN("Could not transform the global plan to the frame of the controller");message ="Could not transform the global plan to the frame of ...
所有程序的入口(main函数)在follower_node.cpp文件中;path_follower_server.cpp中定义了PathFollowerServer类,实现了一个Action server使用actionlib库与path_control节点通信(msgs名字为"follow_path")...
_params.max_global_plan_lookahead_dist, transformed_plan, &goal_idx, &tf_plan_to_global)){ROS_WARN('Could not transform the global plan to the frame of the controller');message = 'Could not transform the global plan to the frame of the controller';return mbf_msgs::ExePathResult::INTERN...
#安装teb_local_plannersudoapt-getinstallros-noetic-teb-local-planner#costmap_converter插件sudoapt-getinstallros-noetic-costmap-converter#mbf-costmap-coresudoapt-getinstallros-noetic-mbf-costmap-core#mbf-msgssudoapt-getinstallros-noetic-mbf-msgs ...
MBF可以将现有插件用于move_base,并提供相同ROS接口的增强版本。 其使用和move_base相同的plugin接口的同时拓展了接口virtual函数,保留了move_base相关的topic和servers。 外部执行逻辑可以使用MBF及其操作来执行智能灵活的导航策略。 同时提供各独立功能的action和状态检测相关的servers,可使用SMACH或者BehaviourTrees灵活组合...
(transformed_plan.empty()) { ROS_WARN("Transformed plan is empty. Cannot determine a local plan."); message = "Transformed plan is empty"; return mbf_msgs::ExePathResult::INVALID_PATH; } // Get current goal point (last point of the transformed plan) robot_goal_.x() = transformed_...
Built target actionlib_msgs_generate_messages_cpp [ 0%] Built target sensor_msgs_generate_messages_eus [ 0%] Built target tf2_msgs_generate_messages_lisp [ 0%] Built target nodelet_generate_messages_cpp [ 0%] Built target map_msgs_generate_messages_py [ 0%] Built target nav_msgs_generate...
Latest commit Cannot retrieve latest commit at this time. History 537 Commits .github diffbot_base diffbot_bringup diffbot_control diffbot_description diffbot_gazebo diffbot_mbf diffbot_msgs diffbot_navigation diffbot_robot diffbot_slam .gitignore ...
[0%] Built target tf2_msgs_generate_messages_nodejs [0%] Built target tf2_msgs_generate_messages_py [0%] Built target tf2_msgs_generate_messages_cpp [0%] Built target actionlib_msgs_generate_messages_lisp [0%] Built target actionlib_msgs_generate_messages_eus ...