importosfrom ament_index_python.packagesimportget_package_share_directory # 查询功能包路径的方法from launchimportLaunchDescription# launch文件的描述类from launch_ros.actions import Node # 节点启动的描述类def generate_launch_description()...
path.join(get_package_share_directory(robot_name), 'urdf', 'mobot.urdf') # read urdf contents because to spawn an entity in # gazebo we need to provide entire urdf as string on command line #small_house = launch.actions.IncludeLaunchDescription( # launch.launch_description_sources.Python...
parameters=[ get_package_share_directory("slam_toolbox") + '/config/mapper_params_online_sync.yaml', {'use_sim_time': use_sim_time} ], package='slam_toolbox', executable='sync_slam_toolbox_node', name='slam_toolbox', prefix=['xterm -e gdb -ex run --args'], output='screen') ...
package_name = 'warehouse_robot_spawner_pkg' # Path of the current directory cur_directory_path = os.path.abspath(os.path.dirname(__file__)) setup( name=package_name, version='0.0.0', packages=[package_name], data_files=[ ('share/ament_index/resource_index/packages', ['resource/' +...
fishbot_navigation2_dir = get_package_share_directory( 'fishbot_navigation2') nav2_bringup_dir = get_package_share_directory('nav2_bringup') rviz_config_dir = os.path.join( nav2_bringup_dir, 'rviz', 'nav2_default_view.rviz')
path.join( get_package_share_directory('turtlebot3_description'), 'urdf', urdf_file_name) # Major refactor of the robot_state_publisher # Reference page: https://github.com/ros2/demos/pull/426 with open(urdf, 'r') as infp: robot_desc = infp.read() rsp_params = {'robot_description...
[os.path.join(get_package_share_directory("robot_localization"), 'params', 'ekf.yaml')], ),]) 简要总结 robot-localization确实是一个比较好用的技术,可以比较好的去优化机器人的定位,因为它融合了多个传感器的输入。对于使用者而言还是需要在ekf.yaml中去配置一下你希望它分别融合odom/imu的哪些数据,比如...
webots=WebotsLauncher(world=os.path.join(get_package_share_directory('webots_ros2_demos'),'worlds','armed_robots.wbt')) # Controller nodes synchronization=launch.substitutions.LaunchConfiguration('synchronization',default=False) abb_controller=ControllerLauncher( ...
from ament_index_python.packages import get_package_share_directory # 查询功能包路径的方法 def generate_launch_description(): rviz_config = os.path.join( # 找到配置文件的完整路径 get_package_share_directory('ars548_launch'), 'rviz',
ros2 run <package_name> <executable_name> --ros-args --params-file <file_name> 例如: ros2 run turtlesim turtlesim_node --ros-args --params-file ./turtlesim.yaml 3.2 以launch文件的形式 tb3_param_dir=LaunchConfiguration('tb3_param_dir',default=os.path.join(get_package_share_directory('...