It first gets the robot instance from the simulation (which can be used to access the Webots robot API). ), is actually the ROS node counterpart of the Python _init_(self. setVelocity ( command_motor_right )Īs you can see, the MyRobotDriver class implements three methods. z command_motor_left = ( forward_speed - angular_speed * HALF_DISTANCE_BETWEEN_WHEELS ) / WHEEL_RADIUS command_motor_right = ( forward_speed + angular_speed * HALF_DISTANCE_BETWEEN_WHEELS ) / WHEEL_RADIUS self. _node, timeout_sec = 0 ) forward_speed = self. _target_twist = twist def step ( self ): rclpy. _cmd_vel_callback, 1 ) def _cmd_vel_callback ( self, twist ): self. create_subscription ( Twist, 'cmd_vel', self. Import rclpy from geometry_msgs.msg import Twist HALF_DISTANCE_BETWEEN_WHEELS = 0.045 WHEEL_RADIUS = 0.025 class MyRobotDriver : def init ( self, webots_node, properties ): self. ROS 2 Technical Steering Committee Charter.On the mixing of ament and catkin (catment).Building ROS 2 with tracing instrumentation.Visualizing ROS 2 data with Foxglove Studio.Working with multiple ROS 2 middleware implementations.Passing ROS arguments to nodes via the command-line.
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