geometry_msgs/Twist消息用于描述一个刚体(例如机器人)的线速度和角速度,而geometry_msgs/TwistStamped则通过添加一个时间戳字段,使得该消息能够包含时间信息,这在处理时间序列数据或进行时间同步时非常有用。 注意,标准的ROS消息类型使用斜杠(/)而不是双冒号(::)来分隔包名和消息名,因此正确的类型名称是geometry_...
获取当前速度 话题名为/current_velocity,消息类型为Geometry::TwistStamped,主要信息为三轴线速度与三轴角速度。 由于autoware车辆为阿克曼转向方式,虽然在速度参数定义时包含了三轴速度与角速度,但实际上只使用了x轴的线速度(车辆前进速度)和z轴的角速度(车辆水平转向),随后会加以分析。 设置预瞄距离,并选取next_po...
Hi, As a key community project using Nav2, I wanted to drop you a note that I am in the process of changing the default cmd_vel topic type from Twist to TwistStamped in efforts of enabling a broader set of applications and safety constra...
Feature request Add optional support of TwistStamped to replace Twist publishers of velocity control data. Feature description I'm working with @pedro-fuoco on integrating NAV2 and ArduPilot for his Google Summer of Code project. More in...
チェックをするとTwistStampedになる。 linear.X、linearYを出す平行移動モードとlinear.X、angular.Z(=Yaw)を出す差動2輪モードを切り替えられる。 X、Y、Yawの最大値をそれぞれ設定できる。 タッチ画面でマウスでクリック&ドラッグをすることで値を決める。
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("/mavros/setpoint_velocity/cmd_vel_unstamped", Twist, queue_size=1) self.rc_override = rospy.Publisher("/mavros/rc/override", OverrideRCIn, queue_size=1) # mode 0 = STABILIZE # mode 4 = GUIDED # mode 9 = LAND self.mode_service = rospy.ServiceProxy('/mavros/set_mode', SetMode) ...
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