RCLCPP_INFO_STREAM(LOGGER,"Test1 1: Current State Is"<< (cillision_result.collision?"in":"not in") <<"self colision"); 改变状态 现在, 让我们改变机器人的当前状态。 规划场.景在内部维护当前状态。 我们可以获取对他的引用并改变他, 然后检查新的机器人配置的碰撞。 特别注意, 我们需要在发出新的...
ros2 run rclcpp_components component_container // 启动组件容器 因为组件没有 main 函数,不能单独运行,因此需要启动一个空的进程用来作为组件执行的容器。利用这个指令来启动 ros2 提供给我们的默认的容器。ros2 component load [包名] [组件名] // 该指令将组件挂在至默认的组件容器,注,执行此指令需新开一...
RCLCPP_INFO_STREAM(LOGGER, "Current state is " << (kinematic_state->satisfiesBounds() ? "valid" : "not valid")); /* Enforce the joint limits for this state and check again*/ kinematic_state->enforceBounds(); RCLCPP_INFO_STREAM(LOGGER, "Current state is " << (kinematic_state->satisfi...
RCLCPP_INFO_STREAM(LOGGER, "Test 2: Current state is " << (collision_result.collision ? "in" : "not in") << " self collision"); 对规划组进行碰撞检测。现在,我们将仅对Panda机器人的手进行碰撞检测,即会检查该机器人的手和机器人身体的其他部分之间是否有任何碰撞。我们可以通过在碰撞请求中添加...
tf2::TimePointZero);//这里得到的是from_frame_rel在to_frame_rel坐标系下的相对位置}catch(tf2::TransformException&ex){RCLCPP_INFO(this->get_logger(),"Could not transform %s to %s: %s", toFrameRel.c_str(), fromFrameRel.c_str(), ex.what());return;} ...
RCLCPP_INFO_STREAM( logger, "Running experiment from now on for " << EXPERIMENT_DURATION.count() << " seconds ..."); std::this_thread::sleep_for(EXPERIMENT_DURATION); // Get end CPU time of each thread ... nanoseconds high_prio_thread_end = get_thread_time(high_prio_thread); ...
RCLCPP_INFO( get_logger(), "Lifecycle publisher is active. Publishing: [%s]", msg->data.c_str()); } pub_->publish(std::move(msg)); } rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn on_configure(const rclcpp_lifecycle::State &) ...
rclcpp::Node::make_shared("add_two_ints_server");rclcpp::Service<example_interfaces::srv::AddTwoInts>::SharedPtr service =node->create_service<example_interfaces::srv::AddTwoInts>("add_two_ints", &add);RCLCPP_INFO(rclcpp::get_logger("rclcpp"),"R...
ros2 run rclcpp_components component_container Add the wrapper: ros2 component load /ComponentManager realsense2_camera realsense2_camera::RealSenseNodeFactory-euse_intra_process_comms:=true Load other component nodes (consumers of the wrapper topics) in the same way. ...
on_configure(const rclcpp_lifecycle::State &) { pub_ = this->create_publisher<std_msgs::msg::String>("managed_scan", 10); timer_ = this->create_wall_timer( 1s, std::bind(&ManagedScan::publish, this)); RCLCPP_INFO(get_logger(), "on_configure() is called."); ...