此ROS2 Ackermann Controller示例仅支持 ROS2 Humble。 运行此示例需要ackermann_msgsROS2 包。要安装此包,请运行以下命令: sudo apt install ros-humble-ackermann-msgs 在Extension Manager窗口中启用isaacsim.ros2.bridge扩展,路径为Window > Extensions。 本教程需要isaac_tutorials和cmdvel_to_ackermannROS2 包,这...
IocpProactor Starting >>> control_msgs Starting >>> controller_manager_msgs Starting >>> vision_msgs Starting >>> realtime_tools Starting >>> ros2_control_test_assets Starting >>> dynamixel_sdk Starting >>> webots_ros2_ur_e_description Starting >>> ackermann_msgs Finished <<< webots_ros...
ただし,ファイルのパス指定が適切でないとビルドができないことがあります。 具体例として,ROS 2の独自メッセージ「ackermann_msgs」をros2genmsgでビルド/読み込みしてみましょう。下記の作業ディレクトリ上で独自メッセージのパスを指定してros2genmsgを実行するとエラーが発生してしまいます...
std_msgs/Header header geometry_msgs/Quaternion orientation float64[9] orientation_covariance # Row major about x, y, z axes geometry_msgs/Vector3 angular_velocity float64[9] angular_velocity_covariance # Row major about x, y, z axes geometry_msgs/Vector3 linear_acceleration float64[9] linear...
Finished <<< ackermann_msgs [21.2s] Finished <<< vision_msgs [23.8s] Starting >>> webots_ros2_msgs Finished <<< control_msgs [25.1s] Starting >>> hardware_interface Finished <<< hardware_interface [10.6s] Starting >>> controller_interface ...
ans = struct with fields:MessageType: ‘geometry_msgs/Vector3’X:-0.0358Y:-0.0078Z:0.0416 这些消息字段的每个值实际上都是一条消息。它们的消息类型是geometry_msgs/Vector3。 geometry_msgs/Twist是由两条 geometry_msgs/Vector3消息组成的复合消息。
IMU对应的消息类型为sensor_msgs/msg/Imu ros2 interface show sensor_msgs/msg/Imu # This is a message to hold data from an IMU (Inertial Measurement Unit) # # Accelerations should be in m/s^2 (not in g's), and rotational velocity should be in rad/sec ...
@@ -3,24 +3,11 @@ project(carla_ackermann_control) # Find catkin macros and libraries find_package( catkin REQUIRED COMPONENTS message_generation rospy std_msgs ackermann_msgs dynamic_reconfigure carla_msgs roslaunch) catkin REQUIRED COMPONENTS rospy std_msgs ackermann_msgs dynamic_reconfigure carla...
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 Starting >>> ackermann_msgs Starting >>> ...
@@ -3,24 +3,11 @@ project(carla_ackermann_control) # Find catkin macros and libraries find_package( catkin REQUIRED COMPONENTS message_generation rospy std_msgs ackermann_msgs dynamic_reconfigure carla_msgs roslaunch) catkin REQUIRED COMPONENTS rospy std_msgs ackermann_msgs dynamic_reconfigure carla...