1.ros_control框架 ros_control包由combined_robot_hw(硬件包),controller_interface(controller接口),controller_manager(controller管理器),controller_manager_msg(controller管理器的消息类型),hardware_interface(硬件底层的接口),joint_limits_interface(joints限制接口),transmission_interface(传动接口),realtime_tools(实...
2.3 ros_control的其它package ros_control还提供软件库处理实时ROS通信(real-time ROS communication),传动(transmissions)和关节限制(joint limits)。 realtime_tools包增加了类以realtime-safe的方式处理ROS通信。 transmission_interface包提供类实现joint-space和actuator-space的转换,例如:简单的减速器(simple reducer)...
● 之后的每个发行版:随着新功能被添加到ROS 2核心库,反复迭代API、重构和扩展测试套件(1-2周/每个发行版周期)。 *英语原文网址:http://design.ros2.org/articles/realtime_proposal.html
realtime-tools ros-melodic-ros-tutorials ros-melodic-roscpp-tutorials ros-melodic-roslint ros-melodic-rospy-tutorials ros-melodic-rviz-plugin-tutorials ros-melodic-rviz-python-tutorial ros-melodic-transmission-interface ros-melodic-turtle-actionlib ros-melodic-turtle-tf ros-melodic-turtle-tf2 ros-...
This repo builds a Raspberry Pi 4 image with ROS 2 and the real-time kernel pre-installed. This image can be downloaded directly fromthe releases page, flashed to a SD card, and booted on a Raspberry Pi 4. How to Before you start, you need an SD card that is at least 8GB in size...
[1.903s] root DEBUG Using proactor: IocpProactor Starting >>> control_msgs Starting >>> controller_manager_msgs Starting >>> vision_msgs Starting >>> realtime_tools Starting >>> ros2_control_test_assets Starting >>> webots_ros2_ur_e_description ...
ros-humble-realtime-tools.win.patchros-controls/realtime_tools#131 ros-humble-rmf-building-map-tools.patch ros-humble-ros-gz-bridge.patch ros-humble-ros-ign-bridge.win.patch ros-humble-ros-workspace.patch ros-humble-ros2-socketcan.patch ...
图中间为Micro-ROS核心架构,最下面Microcontroller代表微控制器,如STM32,接着在微控制器上运行RTOS(Real-Time Operating System),如FreeRTOS、Zephyr或NuTTX这类具有POSIX接口的RTOS,值的一提的是,由于Arduino已经集成了Micro-ROS的库,Arduino不需要运行RTOS,裸机也可以使用Micro-ROS。
对于其它类型的数据,例如bool、std::string、std::vector、ros::Time、ros::Duration、boost::array等等,它们各自的处理方式有细微的不同,所以不再用上面的宏函数,而是用模板特化的方式每种单独定义,这也是为什么serialization.h这个文件这么冗长。 对于int、double这种单个元素的数据,直接用上面特化的Serializer类中的...
对于其它类型的数据,例如bool、std::string、std::vector、ros::Time、ros::Duration、boost::array等等,它们各自的处理方式有细微的不同,所以不再用上面的宏函数,而是用模板特化的方式每种单独定义,这也是为什么serialization.h这个文件这么冗长。 对于int、double这种...