nwegy/OSC_ROS2
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AS: pkg for cart info and joint angles control

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This commit is contained in:
Alexander Schaefer
2025-03-20 15:53:53 +01:00
parent 7b047387eb
commit 8be7f6dfe1
232 changed files with 5667 additions and 34 deletions
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4
ros2_ws/src/joint_states_control/get_urdf.py
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@@ -11,7 +11,7 @@ class URDFRetriever(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()
@@ -38,7 +38,7 @@ def main():
if 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)