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목록ROS2 (10)
one님의 블로그
[ROS2] 불완전 원
■ linear.x= 2.0, angular.z= 2.0일 때 ⇒ 90도ros2 topic pub --once /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 2.0}}" ■ linear.x= 4.0, angular.z= 4.0일 때 ⇒ 약 230도ros2 topic pub --once /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 4.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 4.0}}" ■ linear.x= 5.0 , angular.z= 3.13 ⇒ 반원 ro..
[ROS2] 원 (1바퀴)
■ linear.x= 2.0, angular.z= 6.28일 때ros2 topic pub --once /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 6.28}}" ■ linear.x= 4.0, angular.z= 6.28일 때 ros2 topic pub --once /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 4.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 6.28}}" ■ linear.x= 5.0, angular.z= 6.28 ros2 topic pub --onc..
[ROS2] 예상문제 4 - 반원, 별 ,ㄹ
1. 반원 관련? ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 3.1415}"sleep 1ros2 topic pub --once /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 4.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"sleep 1ros2 service call /clear std_srvs/srv/Emptysleep 1ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 0.0}"s..
[ROS2] 예상 문제3 - 팔각형, 하트
1. 8각형ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 1.5708}"sleep 1ros2 topic pub --once /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 3.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"sleep 1ros2 service call /clear std_srvs/srv/Emptysleep 1ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: -0.3915}"s..
[ROS2] 예상문제 2 - 타원, 오각형, 육각형
1. 타원sleep 1ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: -1.57}"sleep 1ros2 topic pub --once /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 0.0}}"sleep 1ros2 service call /clear std_srvs/srv/Emptysleep 1ros2 action send_goal /turtle1/rotate_absolute turtlesim/action/RotateAbsolute "{theta: 0.0}"..
[ROS2] 거북이 기본 명령어
■ runros2 run turtlesim turtlesim_noderos2 run turtlesim turtle_teleop_key ■ 토픽ros2 topic pub --once /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}" ros2 topic pub --rate 1 /turtle1/cmd_vel geometry_msgs/msg/Twist "{linear: {x: 2.0, y: 0.0, z: 0.0}, angular: {x: 0.0, y: 0.0, z: 1.8}}" ■ bag 기록 , 플레이 ⇒ bag은 topic만 기록 가능ros2 bag r..