ros2 pkg create example_interfaces_rclpy --build-type ament_python --dependencies rclpy example_ros2_interfaces --destination-directory src --node-name example_interfaces_robot_02 --maintainer-name "fishros" --maintainer-email "fishros@foxmail.com" touch src/example_interfaces_rclpy/example_interfa...
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from example_interfaces.srv import AddTwoInts class Service_Server(Node): def __init__(self, name): super().__init__(name) # 创建一个服务端,使用的是create_service函数 # 参数分别为:服务数据类型、服务名称、服务回调函数 self.src = self.create_service(AddTwoInts, "/add_two_ints", sel...
rclcpp::Service<example_interfaces::srv::AddTwoInts>::SharedPtr add_ints_server_; // 收到请求的处理函数 void handle_add_two_ints( const std::shared_ptr<example_interfaces::srv::AddTwoInts::Request> request, std::shared_ptr<example_interfaces::srv::AddTwoInts::Response> response) { R...
example_interfaces_control_01,控制节点,发送机器人移动请求,订阅机器人状态话题。 在工作空间下的src文件夹中创建功能包example_ros2_interfaces添加example_ros2_interfaces和rclcpp依赖,并自动生成example_interfaces_robot_01节点。 因为--node-name只支持创建一个节点,我们再添加一下另外一个节点。
rclc_service_init_default(&service, &node, ROSIDL_GET_SRV_TYPE_SUPPORT(example_interfaces, srv, AddTwoInts), "/addtwoints"); // 创建执行器 rclc_executor_init(&executor, &support.context, 1, &allocator); // 执行器添加服务 rclc_executor_add_service(&executor, &service, &req, &res,...
ros2 service call /add_two_ints example_interfaces/srv/AddTwoInts "{a: 5,b: 10}" 七、Parameter 7.1 命令概览 7.2 命令解释 7.2.1 查看参数名称 ros2 param list 7.2.2 详细查看一个参数的信息 ros2 param describe <node_name> 7.2.3 获取参数...
colcon build --packages-select example_ros2_interfaces 编译完成后在chapt3_ws/install/example_ros2_interfaces/include下你应该可以看到C++的头文件。在chapt3_ws/install/example_ros2_interfaces/local/lib/python3.10/dist-packages下应该可以看到Python版本的头文件。
Learn ROS2 – Run rosject (example of the RUN button) After pressing the Run button, you should have the rosject loaded. Let’s now head to the next section to really get some real practice. ROS2 Interfaces overview ROS2 Interfaces is a common language behind ROS2 messages, services, ...
<build_depend>example_interfaces</build_depend><build_depend>rclcpp</build_depend><build_depend>rclcpp_components</build_depend><build_depend>rcutils</build_depend><build_depend>std_msgs</build_depend> <exec_depend>example_interfaces</exec_depend><exec_depend...