ROS Baxter update URDF in runtime 更新URDF模型

最新推荐文章于 2022-01-10 18:38:19 发布

Bourne_Boom

最新推荐文章于 2022-01-10 18:38:19 发布

阅读量348

点赞数

CC 4.0 BY-SA版权

分类专栏： ROS

本文链接：https://blog.youkuaiyun.com/linyijiong/article/details/90140297

ROS 专栏收录该内容

8 篇文章

订阅专栏

博客介绍了两项检查工作。一是通过ping + ID.local检查计算机与机器人的连接状况，可搜索相关内容获取帮助；二是检查时间戳，通过rostopic echo -n1 /robot/urdf查看urdf主题消息的时间，运行update_urdf.py并使用ipdb检查消息中的时间，时间戳用于向MRSP表明有新变化。

摘要生成于 C知道，由 DeepSeek-R1 满血版支持，前往体验 >

1. Check the computer and robot connection
ping + ID.local to check the connection condition
(search google **rethink robot ssh**)
http://sdk.rethinkrobotics.com/wiki/SSH#Start.2FStop_the_robot_software

2. Check the time stamp
**rostopic echo -n1 /robot/urdf** Check the msg of urdf topic, especially the time (secs, nsecs). Then run the update_urdf.py, use **ipdb** to check the **time** in **msg**. The latter one is supposed to larger (behind) than the first one.

time:
This field is used as the unique identifier to signal to the MRSP that a "new" change has occurred. If the time stamp here is less than the timestamp of the last change, the MRSP will ignore this request entirely. If you are populating this field within your code, you can use ROS Time.

http://sdk.rethinkrobotics.com/wiki/Gripper_Customization