auto node = std::make_shared<TopicPublisher01>("topic_publisher_01"); /* 运行节点,并检测退出信号*/ rclcpp::spin(node); rclcpp::shutdown(); return 0; } 修改CMakeLists.txt add_executable(topic_publisher_01 src/topic_publisher_01.cpp) ament_target_dependencies(topic_publisher_01 rclcpp) i...
class TopicPublisher01 : public rclcpp::Node 1. 2. 3. 4. 2.3 创建发布者 根据ROS2的RCLCPPAPI文档可以看出,我们需要提供消息接口、话题名称和服务质量Qos。 消息接口上面我们已经导入了,是std_msgs/msg/string.h。 话题名称(topic_name),我们就用control_command。 Qos,Qos支持直接指定一个数字,这个数字对应...
node = ExampleInterfacesRobot02("example_interfaces_robot_02") # 新建一个节点 rclpy.spin(node) # 保持节点运行,检测是否收到退出指令(Ctrl+C) rclpy.shutdown() # 关闭rclpy 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. 17. 18. example_interfaces_control_02.py #!
add_node(obstacle_monitor->get_node_base_interface()); executor.spin(); rclcpp::shutdown(); return 0; } 这里需要注意! 代码语言:javascript 复制 rclcpp::executors::SingleThreadedExecutor executor; executor.add_node(obstacle_detector->get_node_base_interface()); executor.add_node(obstacle_mon...
然后对启动文件*.launch.py进行修改,具体就是要将“node_executable”修改成“executable”,将“node_name”修改成“name”。 完成上述修改后,就可以编译构建该存储库中的各个软件包了,具体命令为: cd ~/dev_ws colcon build --symlink-install --packages-select control_interfaces kuka_kr6_support kuka_...
Generic and simple controls framework for ROS 2. Contribute to ros-controls/ros2_control development by creating an account on GitHub.
Shutdown transition was added to the lifecycle node destructor in #2450 (iron backport: #2490). This currently triggers shutdown if the node state is anything other than finalized. Would it make sense for this to check whether the node is in one of the primary states before sending the ...
在ROS 1节点中,通常使用NodeAPI并实现它们自己的main功能。只有少数软件包利用NodeletAPI并将其组件编译为共享库。开发人员必须在这两个不同的API之间进行选择,并且从使用一个API转换到另一个需要一些非常重要的工作。In ROS 1 nodes commonly use theNodeAPI and implement their ownmainfunction. Only a few pack...
#include<functional>#include<memory>#include<thread>#include"action_tutorials_interfaces/action/fibonacci.hpp"#include"rclcpp/rclcpp.hpp"#include"rclcpp_action/rclcpp_action.hpp"#include"rclcpp_components/register_node_macro.hpp"#include"action_tutorials_cpp/visibility_control.h"namespaceaction_tutorials_...
test1 = ros2node("/test1") test1 = ros2node with properties: Name: '/test1' ID: 0 Useros2 node listto see all nodes in the ROS 2 network. ros2nodelist /service_client_node /setupROS2ServiceServer_81473 /test1 Useclearto shutdown the node in ROS 2 network. ...