ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose "{pose: {header: {frame_id: map}, pose: {position: {x: 2, y: 2}}}" --feedback --- Waiting for an action server to become available... Sending goal: pose: header: stamp: sec: 0 nanosec: 0 frame_id: ...
ros2 action send_goal /navigate_to_pose nav2_msgs/action/NavigateToPose "{pose: {header: {frame_id: map}, pose: {position: {x: 2, y: 2}}}" --feedback --- Waiting for an action server to become available... Sending goal: pose: header: stamp: sec: 0 nanosec: 0 frame_id: ...
ros2 run tf2_ros static_transform_publisher --x 0.3 --y 0.0 --z 0.0 --roll 0.0 --pitch 0.0 --yaw 0.0 --frame-id base_laser --child-frame-id wall_point # 新终端三,计算 base_link 到 wall_point 的变换关系 ros2 run tf2_ros tf2_echo base_link wall_point # tf2_echo 输入两个坐...
1.1 header部分 头部分,主要是设置雷达的frame_id和时间戳,在microros中可以这样赋值 pub_msg.header.frame_id = micro_ros_string_utilities_set(pub_msg.header.frame_id,"laser");//初始化消息内容int64_t current_time =rmw_uros_epoch_millis(); pub_msg.header.stamp.sec= current_time * 1e-3; p...
frame_id: base_link readings: - header: stamp: sec: 1724914555 nanosec: 37836372 frame_id: cliff_side_left value: 2229 - header: stamp: sec: 1724914555 nanosec: 37836372 frame_id: cliff_front_left value: 2208 - header: stamp:
transform.header.frame_id ="map";//父节点 transform.child_frame_id ="target_point";//子结点 transform.transform.translation.x =5.0; transform.transform.translation.y =3.0; transform.transform.translation.z =0.0; tf2::Quaternion quat;
通过topic命令行,查看话题内容 ros2 topic echo /scan 1. 效果如下: --- header: stamp: sec: 172 nanosec: 816000000 frame_id: turtlebot4/rplidar_link/rplidar angle_min: -3.1415927410125732 angle_max: 3.1415927410125732 angle_increment: 0.009832840412855148 ...
# map_server_params.yamlmap_server:ros__parameters:frame_id:maptopic_name:mapuse_sim_time:falseyaml_filename:maps/map.yaml 第2 步:使用作为参数传递的此文件运行地图服务器 代码语言:javascript 复制 ros2 run nav2_map_server map_server--ros-args--params-file map_server_params.yaml ...
det.header.frame_id = "/world"; det.header.stamp = rclcpp::Clock().now(); det.f_x = list.detection_array[i].f_x; det.f_y = list.detection_array[i].f_y; det.f_z = list.detection_array[i].f_z; det.u_invalid_flags = list.detection_array[i].u_InvalidFlags; ...
通过topic命令行,查看话题内容 ros2 topic echo /scan 效果如下: --- header: stamp: sec: 172 nanosec: 816000000 frame_id: turtlebot4/rplidar_link/rplidar angle_min: -3.1415927410125732 angle_max: 3.1415927410125732 angle_increment: 0.009832840412855148 ...