git clone https://github.com/ros-perception/perception_pcl 选择ros2版本的git clone https://github.com/ros-perception/pcl_msgs -b ros2 编译的时候需要source ~/ros2_humble/humble/local_setup.zsh 然后按照cmake的方式编译即可。之后再编译cartographer即可colcon build 使用单线激光雷达运行cartographer在 ro...
. ~/ros2_humble/install/local_setup.bash 1. 2. 3. 尝试一些例子 在一个终端中,获取设置文件,然后运行C++讲话器: . ~/ros2_humble/install/local_setup.bash ros2 run demo_nodes_cpp talker 1. 2. 在另一个终端源中,安装文件,然后运行Python侦听器: . ~/ros2_humble/install/local_setup.bash ros...
ROS2_humble various nodes as converted to colcon build for the magni_description, I copied it into a ros2_ws/src, edited CMake.txt and package.xml, and then built with colcon_build. I used: ros2 launch urdf_tutorial display.launch.py model:=/home/ubiqlap/magni_ws/src/magni_description...
ros-humble-ament-cmake-google-benchmark ros-humble-rc-genicam-driver-dbgsym ros-humble-ament-cmake-gtest ros-humble-rcl ros-humble-ament-cmake-include-directories ros-humble-rcl-action ros-humble-ament-cmake-libraries ros-humble-rcl-action-dbgsym ros-humble-ament-cmake-lint-cmake ros-humble-...
ros-humble-ament-index-cpp-dbgsym ros-humble-rcl-logging-interface ros-humble-ament-index-python ros-humble-rcl-logging-interface-dbgsym ros-humble-ament-lint ros-humble-rcl-logging-noop ros-humble-ament-lint-auto ros-humble-rcl-logging-noop-dbgsym ...
启动主节点需要两个参数,robot_description和robot_controllers,前者就是我们写的参数yaml文件,后者是我们之前写的urdf,准确的说是urdf文件里面的ros2-control这个标签。不得不说,官方这张图值得仔细揣摩。 image-20240217024411220 然后是robot_state_publisher和rviz2这两个节点,rviz2是可视化工具,而robot_state_publisher...
description/<example_name>.urdf.xacro- the main description for for the example used to generate URDF on the fly that is published on the/robot_descriptiontopic. hardware/<example_name>.hpp- header file of the example hardware component implementation. ...
在description文件夹下面新建urdf文件夹用来存放我们的urdf文件,这里我们直接使用官方例子里面的机器人模型。值得一提的是,官方用的Xacro写的,Xacro是urdf的定义和生成工具,URDF默认格式是纯文本的,我们并不能在其中加入计算公式和定义,用URDF定义一个机器人模型会导致整个文件非常冗长,有点类似Makefile和Cmake的关系。你...
? Additionally, I noticed a similar topic: Isaac sim is stuck when I run the ROS2 Turtlebot tutorial Is your issue the same as or different from the one described in that thread?rchadha 2024 年9 月 20 日 20:54 3 Also, the GLFW Windowing issue suggests that there might have been a...
urdf ros-humble-osrf-testing-tools-cpp ros-humble-urdf-dbgsym ros-humble-osrf-testing-tools-cpp-dbgsym ros-humble-urdfdom ros-humble-ouster-msgs ros-humble-urdfdom-dbgsym ros-humble-ouster-msgs-dbgsym ros-humble-urdfdom-headers ros-humble-ouxt-common ros-humble-urdfdom-py ros-humble-ouxt-...