游戏手柄遥控越疆协作机器人[三]

勿忘初心912025-11-10 14:25

游戏手柄遥控越疆协作机器人[三]

[一、运行gazebo查看topic list](#一、运行gazebo查看topic list)
[二、新建C++ pkg](#二、新建C++ pkg)
三、启动

一、运行gazebo查看topic list

bash 复制代码

ros2 launch dobot_gazebo gazebo_moveit.launch.py

ros2 topic list

/clock

/dynamic_joint_states

/joint_state_broadcaster/transition_event

/joint_states

/nova2_group_controller/controller_state
/nova2_group_controller/joint_trajectory

/nova2_group_controller/state

/nova2_group_controller/transition_event

/parameter_events

/performance_metrics

/robot_description

/rosout

/tf

/tf_static

二、新建C++ pkg

bash 复制代码

ros2 pkg create --build-type ament_cmake --license Apache-2.0 joystick_Nova2_control

cmakelist.txt

bash 复制代码

find_package(rclcpp REQUIRED)
add_executable(cpp_node src/cpp_node.cpp)
ament_target_dependencies(cpp_node rclcpp)
install(TARGETS cpp_node
       DESTINATION lib/${PROJECT_NAME})

package.xml

bash 复制代码

 <depend>rclcpp</depend>

三、启动

bash 复制代码

ros2 run joy joy_node
ros2 launch dobot_gazebo gazebo_moveit.launch.py
ros2 launch dobot_moveit moveit_gazebo.launch.py
ros2 topic pub /clock rosgraph_msgs/msg/Clock "{clock: {sec: 0, nanosec: 0}}" -r 100