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') ...
webots=WebotsLauncher(world=os.path.join(get_package_share_directory('webots_ros2_demos'),'worlds','armed_robots.wbt')) 控制器节点(两个机械臂分别为ur和abb): ur: 代码语言:javascript 复制 ure5_controller=ControllerLauncher(package='webots_ros2_core',executable='webots_robotic_arm_node',argument...
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/' +...
# find_package(<dependency> REQUIRED) find_package(rclcpp REQUIRED) find_package(std_msgs REQUIRED) find_package(ars548_interface REQUIRED) find_package(sensor_msgs REQUIRED) find_package(geometry_msgs REQUIRED) find_package(PCL REQUIRED) find_package(pcl_conversions REQUIRED) #测试节点 add_executable...
( # 找到参数文件的完整路径 get_package_share_directory('learning_launch'),'config','turtlesim.yaml') return LaunchDescription([ # 返回launch文件的描述信息 Node( # 配置一个节点的启动 package='turtlesim', # 节点所在的功能包 exe...
defgenerate_launch_description():tiago_gazebo_dir=get_package_share_directory('tiago_gazebo')world=LaunchConfiguration('world',default='home')declare_world_cmd=DeclareLaunchArgument('world',default_value='home',description='World name')tiago_sim_cmd=IncludeLaunchDescription(PythonLaunchDescriptionSource(...
from ament_index_python.packages import get_package_share_directory import os # 定义函数名称为:generate_launch_description def generate_launch_description(): ns = os.environ.get('ROBOT_ID')##read namespace from env return LaunchDescription([ ...
package_dir = get_package_share_directory('webots_ros2_turtlebot') world = LaunchConfiguration('world') robot_description = pathlib.Path(os.path.join(package_dir, 'resource', 'turtlebot_webots.urdf')).read_text() ros2_control_params = os.path.join(package_dir, 'resource', 'ros2control....
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('...
get_package_share_directory('launch_tutorial'), 'launch'), '/turtlesim_world_1.launch.py']) ) turtlesim_world_2 = IncludeLaunchDescription( PythonLaunchDescriptionSource([os.path.join( get_package_share_directory('launch_tutorial'), 'launch'), ...