TF2是 ROS 2中的时变坐标变换库,Nav2使用TF2来表达和获取时间同步的坐标变换。全球定位系统 (GPS、SLAM、动作捕捉Motion Capture) 的工作是至少要提供map-> odom的坐标转换。然后,里程计系统的作用是提供odom->base_link的坐标转化。关于base_link的其余坐标转换应该是静态的,并应在URDF中定义。 3.6 全局定位: ...
接着会添加Gazebo插件,这些插件会仿真IMU传感器和差分驱动里程计系统,以便分别发布sensor_msgs/Imu和nav_msgs/Odometry消息。最后会在Gazebo环境中生成sam_bot并验证在ROS 2上发布的sensor_msgs/Imu和nav_msgs/Odometry消息。 安装与前提条件 Gazebo是一款3D仿真程序软件,允许用户观察虚拟机器人在仿真环境中的功能。要开...
# CATKIN_DEPENDS message_generation message_runtime roscpp rospy std_msgs # DEPENDS system_lib ) ### ## Build ## ### include_directories( # include ${catkin_INCLUDE_DIRS} ) # add_executable(publisher_gps src/publisher_gps.cpp) # target_link_libraries(publisher_gps ${catkin_LIBRARIES}) ...
在ROS2中通过std_msgs包封装了一些原生的数据类型,比如:String、Int8、Int16、Int32、Int64、Float32、Float64、Char、Bool、Empty... 这些原生数据类型也可以作为话题通信的载体,不过这些数据一般只包含一个 data 字段,而std_msgs包中其他的接口文件也比较简单,结构的单一意味着功能上的局限性,当传输一些结构复杂...
from sensor_msgs.msg import Image, NavSatFix import os import argparse class ImageGPSReader: def __init__(self, gps_file, img_folder): # Initialize ROS node rospy.init_node('image_gps_publisher', anonymous=True) self.img_folder=img_folder self.gps_file=gps_file # Initialize publishers sel...
ros-humble-action-msgs ros-humble-pointcloud-to-laserscan-dbgsym ros-humble-action-msgs-dbgsym ros-humble-position-controllers ros-humble-action-tutorials-cpp ros-humble-position-controllers-dbgsym ros-humble-action-tutorials-cpp-dbgsym ros-humble-pybind11-vendor ...
ros2 topic pub -1 /local_xy_origin geometry_msgs/msg/PoseStamped "{header: { stamp: {sec: 0, nanosec: 0}, frame_id: map}, pose: {position:{x: 0.0,y: 0.0,z: 0.0}, orientation:{x: 0.0,y: 0.0,z: 0.0,w: 0.0}}}" -1代表发送一次 ros2 topic pub -1 /gps_goal_fix sensor...
# robot, it issubject to discrete jumps, e.g., due to the fusion of GPS data or a correction from a map-based # localization node. The earth frame is used to relate multiple map frames by giving them a common reference frame.
gps.msg ) generate_messages( DEPENDENCIES std_msgs ) 1. 2. 3. 4. 5. 6. 7. 8. 9. 10. 11. 12. 13. 14. 15. 16. package.xml改动内容如下: <build_depend>message_generation</build_depend> <exec_depend>message_runtime</exec_depend> ...
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}" ...