use_sim_time = LaunchConfiguration('use_sim_time', default='True') world_file_name = 'warehouse.world' pkg_dir = get_package_share_directory('warehouse_robot_spawner_pkg') os.environ["GAZEBO_MODEL_PATH"] = os.path.join(pkg_dir, 'models') world = os.path.join(pkg_dir, 'worlds', ...
ros2 launch gazebo_ros gazebo.launch.py pause:=true use_sim_time:=false gui:=true recording:=false debug:=true verbose:=true gui_required:=true 13.3.1.3 用ros2 launch启动其它演示仿真世界 除了以空白仿真世界启动Gazebo之外,软件包gazebo_ros中还包含一个生成双摆锤模型实体的演示仿真世界: ros2 lau...
为了在 gazebo 中添加可见的纹理,需要在你的 .gazebo 模型文件中创建robot.gazebo文件。将 robot1_description/urdf/robot1_base_01.xacro 文件另存为 robot1_base_02.xacro,并添加如下代码,即可创建robot.gazebo文件: AI检测代码解析 <xacro:include filename="$(find robot1_description)/urdf/robot.gazebo" /...
# Run the spawner node from the gazebo_ros package. The entity name doesn't really matterifyou only have a single robot.spawn_entity = Node(package='gazebo_ros', executable='spawn_entity.py',arguments=['-topic','robot_descrip...
即使将 use_sim_timer 置为true, Info 中的时间戳依旧与现实时间同步。这意味着如果要通过 Info 时间戳估计回调函数的调用频率,需要根据仿真时间因子进行换算。 换算方式。查看运行中的Gazebo的参数 real_time_factor ,确定仿真时间与现实时间的比率。举一个简单的例子:当回调函数的频率设置为 5Hz 时,Gazebo参数 ...
ld.add_action(declare_use_sim_time_cmd) ld.add_action(declare_use_simulator_cmd) ld.add_action(declare_world_cmd) # Add any actions ld.add_action(start_gazebo_server_cmd) ld.add_action(start_gazebo_client_cmd) return ld 1. 2.
gazebo_ros2_control should set use_sim_time=True for the controller_manager, but the controller_manager should set it for the controllers it loads. The spawner is only one of the ways of loading controllers, so probably it should not be the responsible of setting this. shonigmann mentioned ...
ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py 代码语言:shell AI代码解释 ros2 launch turtlebot3_navigation2 navigation2.launch.py use_sim_time:=True gazebo 官方教程: http://www.gazebosim.cn/tutorials.html Gazebo的简单操作 安装gazebo 参考: http://www.gazebosim.cn/tutorials_install_...
// record end time auto end = std::chrono::system_clock::now(); std::chrono::duration<double> diff = end - start; std::cout << "Time to fill and iterate a vector of " << std::setw(9) << size << " ints : " << diff.count() << " s\n"; ...
$ros2 launch turtlebot3_gazebo turtlebot3_world.launch.py 打开建图launch文件: $ ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True 打开小车运动控制节点: $ros2 run turtlebot3_teleop teleop_keyboard 控制小车移动,直到在rviz里看到完整的地图,保存地图: ...