命令行工具源代码位于https://github.com/ros2/ros2cli;用户还可以通过plugin自定义命令行新功能。 3.基本API 新建package分为基于cmake或python两种方式: ros2 pkg create --build-type ament_cmake --node-name my_node my_package --dependencies rclcpp geometry_msgs ros2 pkg create --build-type ament...
由于在ROS 2中RViz2默认情况下并不支持对IMU数据的可视化显示,因此需要自己添加专门用于显示sensor_msgs/Imu消息数据的插件。本文将通过添加Github网站上的imu_tools开源存储库中的rviz_imu_plugin插件软件包来将IMU数据中的线性加速度、角速度、方位等数据在RViz2中进行可视化显示。 走过路过,千万不要错过!!!撰文不易...
•查看 ROS1 功能包中依赖的包,在 ROS2 工作空间下创建对应的功能包: ros2 pkg create hk_camera --build-type ament_cmake --dependencies rclcpp std_msgs cv_bridge image_transport •如果不确定在 ROS2 中对应于 ROS1 的依赖是什么,可以...
auto message = std_msgs::msg::String(); message.data = "Hello, world! " + std::to_string(count_++); RCLCPP_INFO(this->get_logger(), "Publishing: '%s'", message.data.c_str()); publisher_->publish(message); } 最后是计时器、发布者和计数器字段的声明。 rclcpp::TimerBase::SharedPt...
marker_msgs (humble) - 0.0.8-1 The packages in the marker_msgs repository were released into the humble distro by running /usr/bin/bloom-release --rosdistro humble marker_msgs --override-release-repository-url https://github.com/ros2-gbp/marker_msgs-release.git on Thu, 05 Dec 2024 14:...
Webots ROS 2 packages. Contribute to cyberbotics/webots_ros2 development by creating an account on GitHub.
xml <depend>rclcpp</depend> <depend>std_msgs</depend> # 编译运行 colcon build ros2 run subscribe_and_publish publisher ros2 run subscribe_and_publish subscriber 代码语言:javascript 代码运行次数:0 运行 AI代码解释 // publisher.cpp #include "rclcpp/rclcpp.hpp" #include "std_msgs/msg/string....
{op="subscribe",topic="/chatter",type="std_msgs/String"}));// 发送awaitws.SendAsync(newArraySegment<byte>(replyMess),WebSocketMessageType.Text,true,default);// 接收一次消息varbytes=newbyte[1024];varresult=awaitws.ReceiveAsync(bytes,default);string res=Encoding.UTF8.GetString(bytes,0,result....
ros2 topic pub <topic_name> <msg_type>'<args>'# 发布速度命令ros2 topic pub --once /turtle1/cmd_vel geometry_msgs/msg/Twist"{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}"# 按一定频率发布速度命令ros2 topic pub --rate 1 /turtle1/cmd_vel geomet...
wget -O publisher_member_function.cpp https://raw.githubusercontent.com/ros2/examples/foxy/rclcpp/topics/minimal_publisher/member_function.cpp 打开刚刚下载的文件publisher_member_function.cpp: #include<chrono>#include<memory>#include"rclcpp/rclcpp.hpp"#include"std_msgs/msg/string.hpp"usingnamespacest...