lujw2
fc88144faf
feat: imu
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1 month ago | |
|---|---|---|
| .. | ||
| config | 1 month ago | |
| include | 1 month ago | |
| launch | 2 months ago | |
| rc_sdk @ eb2ebe65e0 | 1 month ago | |
| src | 1 month ago | |
| CMakeLists.txt | 2 months ago | |
| README.md | 8 months ago | |
| package.xml | 5 months ago | |
| sdk | 3 months ago | |
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"