_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")...
对于刚体而言,在其通信插件ObjectCommunicationPlugin中,新建了std::shared_ptrget_command(),然后对指令进行解析,并执行相应的操作。例如,如果是ambf_msgs::RigidBodyCmd::TYPE_FORCE,则直接向刚体写入力和力矩;如果是ambf_msgs::RigidBodyCmd::TYPE_POSITION,当刚体是isStaticOrKinematicObject(),则直接写入;否则就...
2. move_base_flex 该存储库包含Move Base Flex(MBF),它是move_base的向后兼容替代品。 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。
#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 ...
("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::INTERNAL_ERROR; } // update via-points container //via_points_.clear遍历transformed_plan将其中二点间隔...
[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 ...
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...
void GrabImu(const sensor_msgs::ImuConstPtr &imu_msg); queue<sensor_msgs::ImuConstPtr> imuBuf; std::mutex mBufMutex; }; class ImageGrabber { public: ImageGrabber(ORB_SLAM3::System* pSLAM, ImuGrabber *pImuGb, const bool bClahe): mpSLAM(pSLAM), mpImuGb(pImuGb), mbClahe(bClahe){...
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