Msg, Srv, etc. ROS interfaces used in examples. Contribute to ros2/example_interfaces development by creating an account on GitHub.
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。 接下来的代码里我们就可以通过头文件导入和使...
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。 cd chapt3_ws/ ros2 pkg create example_interfaces_rclcpp --build-type ament_cmake --depende...
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@" touch src/example_interfaces_rclpy/example_interfaces_rclpy/...
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, ...
ament_target_dependencies(service_server_01 rclcpp example_interfaces) 2. 在packages.xml中导入,具体是添加depend标签并将消息接口写入 1 <depend>example_interfaces</depend> 3. 在代码中导入,C++中是#include"消息功能包/xxx/xxx.hpp" 1 #include "example_interfaces/srv/add_two_ints.hpp"...
from example_interfaces.srv import AddTwoInts import rclpy from rclpy.node import Node class MinimalService(Node): def __init__(self): super().__init__('minimal_service') self.srv = self.create_service(AddTwoInts, 'add_two_ints', self.add_two_ints_callback) def add_two_ints_cal...
For example: 例如: int32 X=123 int32 Y=-123 string FOO="foo" string EXAMPLE='bar' Note 注意 Constants names have to be UPPERCASE 常量名称必须是大写的 3. Service Description Specification 服务描述规范 Services description are defined in .srv files in the srv/ directory of a ROS package....
srv files are just like msg files, except they contain two parts: a request and a response. The two parts are separated by a ‘—’ line. Here is an example of a srv file: srv文件类似msg文件,但是它们包含两部分:请求和响应。这两部分用' - '线分开。
ros2 interface show example_interfaces/srv/AddTwoInts 1. 结果 int64 a int64 b --- int64 sum 1. 2. 3. 4. 导入接口的三个步骤不知道你是否还记得。 ament_cmake类型功能包导入消息接口分为三步: 在CMakeLists.txt中导入,具体是先find_packages再ament_target_dependencies。