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saturn_ros2
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Koks: ef9a027ab8
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saturn_ros2
/
saturn_controller
lujw2 ef9a027ab8 feat: 开始解耦 1 mēnesi atpakaļ
..
config 8023dfc4e9 fix: 配置默认imu频率为200Hz 1 mēnesi atpakaļ
include ef9a027ab8 feat: 开始解耦 1 mēnesi atpakaļ
launch 38a47b0954 chore(launch): 增强launch能力，可以动态修改namespace 2 mēneši atpakaļ
rc_sdk @ eb2ebe65e0 c911309333 feat(submodule): 更新rc_sdk子模块 1 mēnesi atpakaļ
src 8023dfc4e9 fix: 配置默认imu频率为200Hz 1 mēnesi atpakaļ
CMakeLists.txt d5e7dbaa6c chore: 增加配置文件启动的launch方法 2 mēneši atpakaļ
README.md b104f0ead8 [fix]1.解决IS高度调整时没有做型号适配的问题。[feat]增加docking state支持。 8 mēneši atpakaļ
package.xml d351b9b963 [fix]: 添加std_srvs依赖项 5 mēneši atpakaļ
sdk 4af70ed7a9 [refactor] 移除内置的rc_sdk，增加rc_sdk仓库作为子模块 3 mēneši atpakaļ

README.md

调试时启动脚本

source /root/ros2_ws/install/setup.bash && ros2 launch bringup bringup.launch.py map_name:=$MAP_NAME floor_name:=$FLOOR

启动导航模式

ros2 service call /GS_003/robot_command ysc_robot_msgs/srv/RobotCommand "comamnd_name: 'EnableNavigation'"

站立趴下切换

ros2 service call /GS_003/robot_command ysc_robot_msgs/srv/RobotCommand "comamnd_name: 'StandUpDown'"

切换到楼梯模式

ros2 service call /GS_003/robot_command ysc_robot_msgs/srv/RobotCommand "comamnd_name: 'StairsGait'"

切换到平地步态

ros2 service call /GS_005/robot_command ysc_robot_msgs/srv/RobotCommand "comamnd_name: 'OrdinaryGait'"

ros2 service call /GS_005/robot_command ysc_robot_msgs/srv/RobotCommand "comamnd_name: 'StayNormal'"

ros2 service call /GS_005/robot_command ysc_robot_msgs/srv/RobotCommand "comamnd_name: 'StayDown'"

发布速度指令

ros2 topic pub /GS_003/cmd_vel geometry_msgs/msg/Twist "linear: x: -0.1 y: 0.0 z: 0.0 angular: x: 0.0 y: 0.0 z: 0.0"