get_name();get_namespace();get_fully_qualified_name(); 完全限定名称 完全限定名称是节点的局部名称和其所有父命名空间的组合,形成一个全局唯一的标识符。 示例 如果一个节点被命名为node_name,并且它的父命名空间是my_namespace,那么它的完全限定名称将是my_namespace/node_name 函数功能 唯一标识:确保在RO...
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(): # 自动生成launch文件的函数 return LaunchDescription([ # 返回launch文件的描述信息 Node( # ...
} else if (param.get_name() == "cmd_last_time") { rp->cmd_last_time = param.as_int(); } else if (param.get_name() == "max_v_liner_x") { rp->max_v_liner_x = param.as_int(); } else if (param.get_name() == "max_v_liner_y") { rp->max_v_liner_y = param....
namespace= "turtlesim1", package='turtlesim', executable='turtlesim_node', output='screen'), launch_ros.actions.Node( namespace= "turtlesim2", package='turtlesim', executable='turtlesim_node', output='screen'), ]) (Optional) Control the Rurtlesim Nodes 让两只小龟反向画圈 在terminal1 中运...
$ ros2 interface show geometry_msgs/msg/Twist # This expresses velocity in free space broken into its linear and angular parts. Vector3 linear Vector3 angular 1. 2. 3. 4. 5. 6. 6. ros2 topic pub命令: 命令格式: ros2 topic pub <topic_name> <msg_type> '<args>' 1. 例如发布速度...
ros.actionsimportPushRosNamespace...turtlesim_world_2=IncludeLaunchDescription(PythonLaunchDescriptionSource([os.path.join(get_package_share_directory('launch_tutorial'),'launch'),'/turtlesim_world_2.launch.py']))turtlesim_world_2_with_namespace=GroupAction(actions=[PushRosNamespace('turtlesim2'),...
LaunchArgument,SetEnvironmentVariablefromlaunch.substitutionsimportLaunchConfigurationfromlaunch_ros.actionsimportNodefromnav2_common.launchimportRewrittenYamldefgenerate_launch_description():# Get the launch directorybringup_dir=get_package_share_directory('nav2_bringup')namespace=LaunchConfiguration('namespace')...
#include<chrono>#include<cinttypes>#include<cstdio>#include<memory>#include<string>#include<utility>#include"rclcpp/rclcpp.hpp"#include"std_msgs/msg/int32.hpp"using namespace std::chrono_literals;// This node receives an Int32, waits 1 second, then increments and sends it.struct IncrementerPi...
using namespace std::chrono_literals; class MinimalPublisher : public rclcpp::Node { public: MinimalPublisher() : Node("minimal_publisher"), count_(0) { publisher_ = this->create_publisher<ars548_interface::msg::Num>("topic", 10); // CHANGE ...
get_package_share_directory('launch_tutorial'),'config','turtlesim.yaml')returnLaunchDescription([ Node( package='turtlesim', executable='turtlesim_node', namespace='turtlesim2', name='sim', parameters=[config] ) ]) 该launch文件加载YAML配置文件,并启动节点; ...