通信模块是整个ROS2架构中的重中之重,比如你可能想要了解在ROS2中是如何控制机器人底盘运动的?雷达、摄像头、imu、GPS等这些传感器数据是如何传输到ROS2系统的?人机交互时调用者如何下发指令,机器人又是如何反馈数据的?导航、机械臂等系统性实现不同模块之间是如何交互数据的...等等,其实这些都离不开通信模块。另...
ros::Publisher GPS_pub = nh.advertise<v1_GetGPS::topic_msg>("GPS",1000); try { //串口设置 ser.setPort("/dev/ttyACM0"); ser.setBaudrate(115200); serial::Timeout to = serial::Timeout::simpleTimeout(5000); ser.setTimeout(to); ser.open(); } catch (serial::IOException& e) ...
gps_msg.latitude = lat gps_msg.longitude = lon gps_msg.altitude = alt self.gps_pub.publish(gps_msg) rospy.loginfo(f"Published image: {img_file} and GPS data") else: rospy.logwarn(f"Could not read image: {img_path}") else: rospy.logwarn(f"No GPS data for timestamp: {timestamp...
这些节点使用扩展卡尔曼滤波器 (ekf_node) 或无迹卡尔曼滤波器 (ukf_node) 来实现这种融合。此外,该软件包还实现了一个 navsat_transform_node节点,在使用 GPS 时,该节点可以将地理坐标转换为机器人的世界坐标系坐标。 如果在其配置中启用了相应的功能,则robot_localization 软件包会通过odometry/filtered和accel/f...
ros-humble-actionlib-msgs ros-humble-point-cloud-msg-wrapper ros-humble-actionlib-msgs-dbgsym ros-humble-pointcloud-to-laserscan ros-humble-action-msgs ros-humble-pointcloud-to-laserscan-dbgsym ros-humble-action-msgs-dbgsym ros-humble-position-controllers ...
在topic_try文件夹下新建一个msg文件夹,在topic/msg下创建文件gps.msg。该msg文件内容如下所示: string state float32 x float32 y 1. 2. 3. 完成后切记要在CMakeLists.txt和package.xml里添加内容。 CMakeLists.txt添加内容如下: find_package(catkin REQUIRED COMPONENTS ...
(&GPSPublisher::timer_callback,this));}private:voidtimer_callback(){auto msg=sensor_msgs::msg::NavSatFix();msg.latitude=37.7833;msg.longitude=-122.4167;msg.altitude=0.0;publisher_->publish(msg);}rclcpp::TimerBase::SharedPtr timer_;rclcpp::Publisher<sensor_msgs::msg::NavSatFix>::SharedPtr ...
ros2 service call /mavros/set_mode mavros_msgs/srv/SetMode "{base_mode: 0, custom_mode: 'GUIDED_NOGPS'}" And I can also ARM and DISARM the drone using this command: ros2 service call /mavros/cmd/arming mavros_msgs/srv/CommandBool "{value: True}" ...
ros-humble-novatel-gps-msgs-dbgsym ros-humble-turtle-tf2-cpp ros-humble-ntpd-driver ros-humble-turtle-tf2-cpp-dbgsym ros-humble-ntpd-driver-dbgsym ros-humble-turtle-tf2-py ros-humble-ntrip-client ros-humble-twist-mux ros-humble-object-recognition-msgs ros-humble-twist-mux-dbgsym ...
以此类推,像雷达、摄像头、GPS... 等等一些传感器数据的采集,也都是使用了话题通信,话题通信适用于不断更新的数据传输相关的应用场景。 概念 话题通信是一种以发布订阅的方式实现不同节点之间数据传输的通信模型。数据发布对象称为发布方,数据订阅对象称之为订阅方,发布方和订阅方通过话题相关联,发布方将消息发布...