Pull request 847 adds keyboard controls for pausing, resuming, and playing the next message during playback from a terminal. Relatedly, rosbag2 has gained new ways for users to control playback as it is happening. Pull request 931 adds the ability to specify a time stamp to begin playing from.ĭue to pull request 789 it is now possible to delay the start of playback by a specified interval. Several pull requests have been added to enhance the user’s control over playback of bags. The old-style arguments are still allowed in this release, but are deprecated and will print a warning. To change just the translation x, the command-line would be: ros2 run tf2_ros static_transform_publisher -x 1.5 -frame-id foo -child-frame-id bar. Thus, the above command-line can be simplified to: ros2 run tf2_ros static_transform_publisher -frame-id foo -child-frame-id bar To fix both of these issues, the command-line handling has been changed to use flags instead, and all flags except for -frame-id and -child-frame-id are optional. Reading the command-line to figure out what it was publishing was tricky The user had to specify all of the arguments, even if only setting one number While this worked, it had a couple of problems: The first three numbers are the translation x, y, and z, the next 4 are the quaternion x, y, z, and w, and the last two arguments are the parent and child frame IDs. The static_transform_publisher program used to take arguments like: ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 1 foo bar. More intuitive command-line arguments for static_transform_publisher Meshes were modified in a similar way to add the ability to embed a raw Mesh file for the purpose of recording and are modified in a similar way. In the interest of being able to record all data in a rosbag, the ability to embed the texture image is included. This will allow the programmer to choose where they want to load data from, either a local file or a networked file. To those familiar with mesh_resource, resource_retriever should be familiar. RViz will fully support texture rendering through the embedded format. # Location of each vertex within the texture in the range: # This will be used iff texture_resource is set to embedded. # An image to be loaded into the rendering engine as the texture for this marker. # Texture resource is a special URI that can either reference a texture file in # a format acceptable to (resource retriever) # or an embedded texture via a string matching the format: # "embedded://texture_name" ROS 2 Technical Steering Committee Charter.On the mixing of ament and catkin (catment).Building ROS 2 with tracing instrumentation.Visualizing ROS 2 data with Foxglove Studio.Working with multiple ROS 2 middleware implementations.Passing ROS arguments to nodes via the command-line.Migrating YAML parameter files from ROS 1 to ROS 2.Using ROS 2 launch to launch composable nodes.Using Python, XML, and YAML for ROS 2 Launch Files.Migrating launch files from ROS 1 to ROS 2.Building a package with Eclipse 2021-06.Packaging your ROS 2 application as a snap.Recording and playing back data with rosbag using the ROS 1 bridge.Setting up efficient intra-process communication.Using quality-of-service settings for lossy networks.Setting up a robot simulation (Ignition Gazebo).Setting up a robot simulation (Advanced).Using Fast DDS Discovery Server as discovery protocol.Adding physical and collision properties.Building a visual robot model from scratch.Writing Basic Tests with C++ with GTest.Running Tests in ROS 2 from the Command Line.Using stamped datatypes with tf2_ros::MessageFilter.Integrating launch files into ROS 2 packages.Composing multiple nodes in a single process.Writing an action server and client (Python).Writing an action server and client (C++).Writing a simple service and client (Python).Writing a simple service and client (C++). ![]() Writing a simple publisher and subscriber (Python). ![]() Writing a simple publisher and subscriber (C++).Jazzy Jalisco (codename ‘jazzy’ May, 2024).
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