Robot AI Lab

ExcuteProcess : ros2 riviz2 rivz2 ExecuteProcess.launch.py #!/usr/bin/env python3 import os from launch import LaunchDescription from launch.actions import ExecuteProcess, IncludeLaunchDescription from launch.launch_description_sources import PythonLaunchDescriptionSource from launch.substitutions import LaunchConfiguration from launch_ros.actions import Node # this is the function launch system..

ros2 run tf2_ros static_transform_publisher x y z yaw pich roll parent_frame child_frame where, the ratations are in radians [Reference] [1] https://articulatedrobotics.xyz/ready-for-ros-6-tf/

[Reference] [1] https://docs.microsoft.com/en-us/windows/wsl/connect-usb

ydlidar_02.py import os import ydlidar if __name__ == "__main__": ydlidar.os_init(); laser = ydlidar.CYdLidar(); ports = ydlidar.lidarPortList(); port = "/dev/ydlidar"; for key, value in ports.items(): port = value; laser.setlidaropt(ydlidar.LidarPropSerialPort, port); laser.setlidaropt(ydlidar.LidarPropSerialBaudrate, 128000); laser.setlidaropt(ydlidar.LidarPropLidarType, ydlidar.TYPE_TRIANGLE)..

ydlidar_01.cpp #include "CYdLidar.h" #include using namespace std; using namespace ydlidar; #if defined(_MSC_VER) #pragma comment(lib, "ydlidar_sdk.lib") #endif int main(int argc, char *argv[]) { // init system signal ydlidar::os_init(); CYdLidar laser; //////////////////////string property///////////////// /// Lidar ports std::map ports = ydlidar::lidarPortList(); std::string port = "/dev/ydlid..

CMakeLists.txt cmake_minimum_required(VERSION 3.5) project(my_pkg_cpp) # Default to C99 if(NOT CMAKE_C_STANDARD) set(CMAKE_C_STANDARD 99) endif() # Default to C++14 if(NOT CMAKE_CXX_STANDARD) set(CMAKE_CXX_STANDARD 14) endif() if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang") add_compile_options(-Wall -Wextra -Wpedantic) endif() # find dependencies find_package(ament_cmake RE..

main.cpp #include #include #include int main(int argc, char *argv[]) { std::cout

CMakeLists.txt : # Set the minimum version of CMake that can be used # To find the cmake version run # $ cmake --version cmake_minimum_required(VERSION 3.5) # Set the project name project (hello_headers) # Create a sources variable with a link to all cpp files to compile set(SOURCES src/Hello.cpp src/main.cpp ) # Add an executable with the above sources add_executable(hello_headers ${SOURCES}) #..

Build : gcc -c main.c // -c (compile) gcc -c -o target.o main.c ~$ main.o ~$ target.o gcc -o target main.o // -o (output) ~$ target.exe option : gcc -v -I/usr/local/include -DDEBUG -Wall -W -O2 -L/usr/local/lib -o like like.c -lm Make rules : target: dependencies ... commands ... Example : ~$ gcc -c main.c ~$ gcc -c a.c ~$ gcc -c b.c ~$ gcc -o target main.o a.o b.o Example by makefile : a.o : a...

my_pub_motor643.py : # !/usr/bin/env/ python3 import rclpy from rclpy.node import Node from rclpy.qos import QoSProfile from std_msgs.msg import String import time class PublisherMotor643(Node): def __init__(self): super().__init__('pub_node_motor643') qos_profile = QoSProfile(depth=10) # queue_size = 10 self._publisher = self.create_publisher(String, 'topic_motor643', qos_profile) msg = String(..