本文验证了前文所写的控制器和硬件组件,带大家认识了Controller Manager这个重要的功能包和里面的两个重要节点,分别是ros2_control_node和spawner,学习了ros2-control下的参数yaml文件和launch文件的写法,并且借助小乌龟的键盘控制节点去操纵我们的差速小车。至此,借助这个小demo(貌似也不小了),我们熟悉了整个ros2-con...
This repository aims at providing examples to illustrate ros2_control and ros2_controllers - ros2_control_demos/ros2_control_demos.jazzy.repos at master · ros-controls/ros2_control_demos
git clone git@github.com:Hao-Lion-ZJU/diff_demo_ros2_control.gitcd~/diff_test_ws colcon buildsourceinstall/setup.bash 安装需要使用的一些功能包 sudo apt-get install ros-humble-robot-state-publisher ros-humble-xacro 启动launch,并开启RVIZ可视化 ros2 launch diff_test_control diff_test.launch.py'...
Description packagesrrbot_descriptionanddiffbot_description(insideros2_control_demo_description), store URDF-description files, rviz configurations and meshes for the demo robots. Hardware interface packageros2_control_demo_hardware, implements the hardware interfaces described in the roadmap. The examples ...
If you want to have rather step by step manual how to do things with ros2_control checkout the ros-control/roscon2022_workshop repository. Content The following examples are part of this demo repository: Example 1: RRBot RRBot - or ''Revolute-Revolute Manipulator Robot'' - a simple posi...
<ros2_controlname="RRBotSystemPositionOnly"type="system"><hardware><plugin>ros2_control_demo_hardware/RRBotSystemPositionOnlyHardware</plugin>22</hardware><jointname="joint1">-11<state_interfacename="position"/></joint><jointname="joint2">-11<state_interface...
运行demo,订阅/move_group/myrobot_controller_joint_states 编写一个简单的myrobot_sub.cpp arduino端节点 效果图 参考 使用ROS MoveIt!控制diy五自由度机械臂 写在前面 大家如果只是想玩一玩这个ros控制机械臂的套路而非深入学习的话,倒是可以看看我这篇博客找找思路,简单做个demo。如果想深入了解ros架构及ros控...
ros2 launch ros2_control_demo_nodes_odometry_publisher odometry_publisher.launch.py 运行rviz2:在另一个终端窗口中,启动rviz2: ros2 run rviz2 rviz2 在rviz2中添加URDF显示:在rviz2界面中,点击左上角的“Add”按钮,搜索并选择“URDF”显示类型。在出现的属性窗口中,设置“URDF file”为您的URDF文件路径。
This node will be in charge of controlling the red robot in the demo scene controlTypeExamples/controlledViaRos.ttt Above packages should be copied to your ros2_ws/src folder. In order to build the packages, navigate to the ros2_ws folder and type: 代码语言:javascript 代码运行次数:0 运行...
ros2 launch gazebo_ros2_control differential_drive_demo.launch.py 这将启动 Gazebo 仿真环境,并在其中加载一个简单的两轮差速机器人模型。您可以在 Gazebo 窗口中看到机器人的外观和控制界面。 6. 控制机器人 现在,您可以通过键盘控制机器人在 Gazebo 仿真环境中移动。默认情况下,使用以下按键控制: w:前进 s...