首先是创建描述机器人装配的URDF模型。接着会编写一个节点来对机器人的运动进行仿真,并发布JointState和平移消息。然后会使用robot_state_publisher节点将整个机器人的状态消息发布到/tf2话题上。 20.2 前提条件 已经安装了rviz2软件包,并熟悉rviz2的使用方法。 与往常一样,不要忘记在打开的每个新终端中对ROS 2安装...
1、功能包放到工作空间的src里面 catkin_create_pkg learning_topic roscpp std_msgs geometry_msgs turtlesim 2、编译:在以下文件下添加如下两句 add_executable(velocity_publisher src/velocity_publisher.cpp) target_link_lib...tensorflow:rnn中的output和state 原文: https://xdrush.github.io/2018/02/12/RN...
1.问题:装完ros ,apt-get 装完turtlebot 包之后,运行roslaunch turtlebot_bringup minimal.launch。出现这个错误 [robot_state_publisher-1] process has died [pid 4686, exit code -11, cmd /opt/ros/indigo/lib/robot_state_publisher/robot_state_publisher __name:=robot_state_publisher __log:=/home/...
-- 启动rviz --> <node pkg="joint_state_publisher" name="joint_state_publisher" type="joint_state_publisher" /> <node pkg="robot_state_publisher" name="robot_state_publisher" type="robot_state_publisher" /> <node pkg="rviz" type="rviz" name="rviz" args="-d $(find nav_demo)/conf...
robot_state_publisher节点:将机器人各个link、joint之间的关系,通过TF的形式整理成三维姿态信息发布出去。 (3)运行: PS:使用launch文件启动rviz时,可能出现如下报错 解决方案 :缺少依赖包,按指令安装以下依赖包即可 sudo apt-get install ros-noetic-robot-state-publisher ...
Robot State Publisher This package contains the Robot State Publisher, a node and a class to publish the state of a robot to tf2. At startup time, Robot State Publisher is supplied with a kinematic tree model (URDF) of the robot. It then subscribes to thejoint_statestopic (of typesensor...
在Franka Emika 机器人的 ROS1 实现中,确实不需要同时使 用joint_state_publisher和robot_state_publisher这两个通用节点。 这是因为franka_state_publisher节点已经实现了这些功能: 关节状态发布: franka_state_publisher订阅来自franka_control节点的关节状态信息,并以标准的sensor_msgs/JointState消息格式发布出去。
启动 robot_state_publisher 节点并以参数方式加载 urdf 文件 robot_description = ParameterValue(Command(["xacro ",LaunchConfiguration("model")])) robot_state_publisher = Node( package="robot_state_publisher", executable="robot_state_publisher", parameters=[{"robot_description": robot_description}] )...
<!-- Starting robot state publish which will publish tf --><node name="robot_state_publisher"pkg="robot_state_publisher"type="state_publisher"/> <!-- Launch visualization in rviz --><node name="rviz"pkg="rviz"type="rviz"ar...
ROS2与URDF入门教程-在robot_state_publisher 中使用URDF说明: 介绍如何在 URDF 中建模的步行机器人并在 Rviz 中查看 步骤: 创建包 mkdir -p ~/dev_ws/src # change as needed cd ~/dev_ws/src ros2 pkg create urdf_tutorial --build-type ament_python --dependencies rclpy cd urdf_tutorial 创建...