use_sim_time = LaunchConfiguration('use_sim_time') #如果launch系统中没有这个参数,可以给它赋默认值 use_sim_time = LaunchConfiguration('use_sim_time', default='false') autostart = LaunchConfiguration('autostart') 给参数赋默认值 这些参数是上级的launch文件传给下级的launch文件的参数。 DeclareLaunch...
use_sim_time = LaunchConfiguration('use_sim_time', default='true') # 地图的分辨率 resolution = LaunchConfiguration('resolution', default='0.05') # 地图的发布周期 publish_period_sec = LaunchConfiguration('publish_period_sec', default='1.0') # 配置文件夹路径 configuration_directory = LaunchConfig...
return launch.LaunchDescription([ # 声明新的 Launch 参数 launch.actions.DeclareLaunchArgument('use_sim_time', default_value=use_sim_time, description='Use simulation (Gazebo) clock if true'), launch.actions.DeclareLaunchArgument('map', default_value=map_yaml_path, description='Full path to map...
1. 启动多点 ros2 run turtlebot4_python_tutorials nav_through_poses 1. 脚本实现跟随航点 启动导航 ros2 launch turtlebot4_ignition_bringup ignition.launch.py nav:=true slam:=off localization:=true 1. 启动rviz2 ros2 launch turtlebot4_viz view_robot.launch.py use_sim_time:=true 1. 启动航点...
首先，确保将slam生成的地图备份到src/fishbot_navigation2/maps目录下，这是开始编写launch文件的必要前提。在fishbot_navigation2包的launch目录下，创建一个新的导航启动文件navigation2.launch.py，编写如下代码。这个launch文件允许用户配置三个参数：是否使用仿真时间use_sim_time、地图文件map_yaml_path...
'tf_static')]# Create our own temporary YAML files that include substitutionsparam_substitutions={'use_sim_time':use_sim_time,'autostart':autostart}configured_params=RewrittenYaml(source_file=params_file,root_key=namespace,param_rewrites=param_substitutions,convert_types=True)returnLaunchDescription([...
robot_localization_node=launch_ros.actions.Node(package='robot_localization',executable='ekf_node',name='ekf_filter_node',output='screen',parameters=[os.path.join(pkg_share,'config/ekf.yaml'),{'use_sim_time':LaunchConfiguration('use_sim_time')}])returnlaunch.LaunchDescription([launch.actions....
In our case, the controllers might not be started all from the same launch file. I was going to suggest that the controller_manager could copy its use_sim_time value to the controllers when configuring them, if the controllers don't have a value set.Contributor...
每个节点都有参数use_sim_time; 这并不是/turtlesim独有的。 根据它们的名称,看起来/turtlesim的参数使用RGB颜色值决定了turtlesim窗口的背景色。 ros2参数获取 要显示参数的类型和当前值,请使用以下命令: ros2 param get <node_name> <parameter_name> ...
ros2 launch turtlebot3_cartographer cartographer.launch.py use_sim_time:=True 用上面的命令,是可以保存的。 这里想解决的问题是,slam-toolbox建图的情况下,如何保存地图。 这里我们要写一个节点,来启动map_server. 完整代码可以参考: https://github.com/songhuangong/MyRosTest ...