lujw2
381f3c02c2
feat: 开始解耦
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il y a 1 mois | |
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| .. | ||
| config | il y a 2 mois | |
| include | il y a 1 mois | |
| launch | il y a 2 mois | |
| rc_sdk @ eb2ebe65e0 | il y a 1 mois | |
| src | il y a 1 mois | |
| CMakeLists.txt | il y a 2 mois | |
| README.md | il y a 8 mois | |
| package.xml | il y a 5 mois | |
| sdk | il y a 3 mois | |
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"