nwegy/OSC_ROS2
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AS: creating packages

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This commit is contained in:
Alexander Schaefer
2025-03-14 17:52:15 +01:00
parent dbaab8d886
commit 7b047387eb
281 changed files with 10301 additions and 4 deletions
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2
ros2_ws/src/joint_states_control/get_urdf.py
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@@ -42,7 +42,7 @@ def main():
with open(urdf_path, "w") as file:
file.write(urdf_string)
print(f"✅ URDF saved to {urdf_path}")
print(f"URDF saved to {urdf_path}")
# Load into Robotic Toolbox
robot = rtb.ERobot.URDF(urdf_path)

4
ros2_ws/src/joint_states_control/move_scaled_joint_cart copy.py
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@@ -16,7 +16,7 @@ class ScaledJointTrajectoryPublisher(Node):
self.client = self.create_client(GetParameters, '/robot_state_publisher/get_parameters')
while not self.client.wait_for_service(timeout_sec=3.0):
self.get_logger().warn("⏳ Waiting for /robot_state_publisher parameter service...")
self.get_logger().warn("Waiting for /robot_state_publisher parameter service...")
# Create and send a request to get 'robot_description'
self.request = GetParameters.Request()
@@ -68,7 +68,7 @@ def main():
urdf_string = node.urdf_string
# Save to a file
urdf_path = "/tmp/robot.urdf"
urdf_path = "/BA/robot.urdf"
with open(urdf_path, "w") as file:
file.write(urdf_string)

2
ros2_ws/src/joint_states_control/move_scaled_joint_cart.py
View File

@@ -15,7 +15,7 @@ class ScaledJointTrajectoryPublisher(Node):
self.client = self.create_client(GetParameters, '/robot_state_publisher/get_parameters')
while not self.client.wait_for_service(timeout_sec=3.0):
self.get_logger().warn("⏳ Waiting for /robot_state_publisher parameter service...")
self.get_logger().warn("Waiting for /robot_state_publisher parameter service...")
# Create and send a request to get 'robot_description'
self.request = GetParameters.Request()