void Nav2Panel::startNavigation(geometry_msgs::msg::PoseStamped pose) { auto is_action_server_ready = navigation_action_client_->wait_for_action_server(std::chrono::seconds(5)); if (!is_action_server_ready) { RCLCPP_ERROR( client_node_->get_logger(), "FollowWaypoints action server is ...
from nav_msgs.msg import Odometry self.subscription = self.create_subscription( Odometry, '/odom', self.listener_callback, rclpy.qos.qos_profile_sensor_data) C++ odom_subscribe_ = this->create_subscription<nav_msgs::msg::Odometry>( "odom", rclcpp::SensorDataQoS(),...
+ ROSIDL_GET_MSG_TYPE_SUPPORT(nav_msgs, msg, Odometry), + "odom"); // 设置 micro-ROS 执行器,并将订阅添加到其中。 rclc_executor_init(&executor, &support.context, 1, &allocator); rclc_executor_add_subscription(&executor, &subscriber, &sub_msg, &twist_callback, ON_NEW_DATA); // ...
map话题的类型是nav\_msgs::msg::OccupancyGrid。使用下面的命令可以查询该类型的数据结构。 代码语言:txt 复制 ros2 interface show nav\_msgs/msg/OccupancyGrid nav\_msgs::msg::OccupancyGrid的数据结构: 代码语言:txt 复制 # This represents a 2-D grid map std\_msgs/Header heade builtin\_interfaces/Ti...
from geometry_msgs.msg import PoseStamped from nav2_simple_commander.robot_navigator import BasicNavigator, TaskResult import rclpy from rclpy.duration import Duration def main(): rclpy.init() navigator = BasicNavigator() # 等待导航启动完成
right_wheel_est_vel和left_wheel_est_vel的值可以通过简单地获取车轮关节位置随时间的变化来获得。然后可以使用此信息来发布Nav2的要求。有关如何执行此操作的基本示例可以在位于此处的里程计导航文档中找到。 手动发布此信息的替代方法推荐通过ros2_control框架来实现。 ros2_control框架包含了ROS 2中用于实时控制机...
成功后会将路径转换为nav_msgs::msg::Path并返回给规划器服务器。 下面的注释说明了这个方法的实现: nav_msgs::msg::Path global_path; // Checking if the goal and start state is in the global frame if (start.header.frame_id != global_frame_) { ...
nav_msgs::Odometry--->nav_msgs::msg::Odometry 创建pub对象 advertise--->create_publisher timestamp 使用Node->get_clock()->now()获取timestamp yaw to Quaternion tf2::Quaternion q;q.setRPY(0.0,0.0,th); CMakeList.txt中新增nav_msgs依赖项 2....
nav2_dwb_controller nav2_graceful_controller nav2_lifecycle_manager nav2_loopback_sim nav2_map_server nav2_mppi_controller nav2_msgs action msg srv CHANGELOG.rst CMakeLists.txt README.md package.xml nav2_navfn_planner nav2_planner
nav_msgs::msg::Odometry>(localization_topic,1,[this](constnav_msgs::msg::Odometry::ConstPtr msg){localizationCallback(msg)};//---/create_subscription---//callback functionvoidLocalizationSwitchboard::localizationCallback(constnav_msgs::msg::Odometry::Const...