ros2机器人常规控制流程

2023-12-21 06:17:25

  1. The?joint_state_publisher?reads the?robot_description?parameter from the parameter server, finds all of the non-fixed joints and publishes a?JointState?message with all those joints defined.也就是说如果我们不需要控制机器人运动，只需要一个节点就可以了：/robot_state_publisher；根本用不到3个节点

  2. 看吧没有使用joint_state_publisher的图像是这样的，不正常啊，看来必须得有

  3.  joint_state_publisher_gui = Node(
     package='joint_state_publisher_gui',
     executable='joint_state_publisher_gui',
     name='joint_state_publisher_gui',
     arguments=[sdf_file],
     output=['screen']
 )

  4. Visualize in RViz and with the help of the?joint_state_publisher_gui, configure your robot model by adjusting joint states and poses using the slider.

    jsp_gui

    See?documentation?for node API. This functionality is useful during initial development of the model. At this point we have achieved the first aim defined in?Setup.

文章来源:https://blog.csdn.net/geniusChinaHN/article/details/135100257
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