velocity_tool

最新推荐文章于 2025-11-04 08:06:26 发布
原创 最新推荐文章于 2025-11-04 08:06:26 发布 · 113 阅读 · 0 ·
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博客内容提及了Velocity，但未展开更多信息。Velocity在信息技术领域有多种应用，可能涉及模板引擎等方面。

 velocity

MS velocity tool
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MS Velocity Tool是一个由微软提供的测试工具集合，旨在帮助开发者和测试人员发现并解决应用程序和驱动程序中的各种问题。这个工具集包含了几个关键组件，如AppVerifier、Driver Verifier和Windows Performance ...
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自主导航与远程控制中的速度优化velocity_smoother与多路输入切换cmd_vel_mux的层次关系(ros/ cmd_vel)
w383117613的专栏
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利用机器人操作系统ros对机器人进行控制，自主导航navigation输出的速度由于加速度大，会造成小车震动，需要进行速度平滑。 而实际运行时，还可以用用手柄，键盘，安卓app等对机器人进行操作，同一时刻控制小车运动，小车发生混乱，各种控制方式需要切换，因此需要用到cmd_vel_mux对多路速度进行切换，划分优先级。 键盘控制／节点node（话题topic）:keyop(key_cm
java velocity详解_[velocity] velocity详解
weixin_32816821的博客
02-27 4789
(1)为什么要使用模版语言？在服务器端可以使用Velocity处理模板和生成的动态内容(HTML、XML等)。这和JSP技术的目标非常接近。但是，JSP模型可以毫无阻碍地访问底层的ServletAPI和Java编程语言。它基本上是一种在很大程度上开放的访问模型。而作为一种完全自包含的模板引擎和脚本解释器，Velocity拥有完全封闭的模型。任何针对系统和/或Java编程语言的访问都必须明确地启...
Velocity模板_toolbox
z1012890225的专栏
05-04 773
velocity模板引擎本身提供了基本的语法层面的解析，在实际的使用中还有很多可以扩展的工具来简化开发中遇到的一些问题，比如数据的格式化、页面相关的路径处理等。 开发环境 springspring bootvelocityspring boot mvcmybatis 使用指南 创建toolbox.xml: （放在WEB_INF目录下） tools> data typ
velocity_Velocity在线会议2011年3月
cunbei2644的博客
09-26 132
velocityVery rough notes from the event that just ended a few minutes ago 几分钟前结束的活动中的非常粗糙的注释 ======== 1 ======== ======== 1 ======== Tony Gentilcore (google) and Anderson Quach (MSFT) talked about...
velocity java类_velocity调用java方法
weixin_30219823的博客
02-13 1005
Velocity是一个基于java的模板引擎(template engine)。它允许任何人仅仅使用简单的模板语言(template language)来引用由java代码定义的对象。下面由学习啦小编整理了几种vlookup函数的使用方法，希望对大家有所帮助。velocity调用java方法一项目结构 velocity tool java类public class T {public String...
velocity maven java_velocity的使用-配置(Maven)
weixin_28811055的博客
02-16 943
1.在pom.xml中添加依赖org.apache.velocityvelocity1.7org.apache.velocityvelocity-tools2.02.从velocity-tools-2.0.jar的org.apache.velocity.tools.view包中复制出velocity.properties和tools.xml文件到WEB-INF目录下，修改velocity.prop...
springMvc Velocity tool 源码分析
weixin_30852419的博客
08-06 117
在公司使用pandoraboot配置了velocity tool，一直不明白官方支持的init方法没有调用，而且不支持velocity tool 1.x版本的定义(1.x和2.x的定义见下面)，而另一种没使用pandoraboot的源码，确好好的，百思不得其解，然后各种断点调试了一天，发现了端倪，我们的starter中重写了VelocityLayoutView.java类，在new Tool的时候...
2.6.4.Velocity
浩瀚银河
11-04 585
JSP 是Java Web 中常见的视图技术，但它主要依赖于 Java 代码的嵌入，而 Velocity 更侧重于前端人员通过模板语言来控制页面渲染，解耦了视图和业务逻辑。Thymeleaf 是另一种流行的模板引擎，支持更强大的表达式语言和更丰富的功能，而 Velocity 的语法相对简单，学习曲线较低，适合快速开发和轻量化需求。它存储着将传递给模板的数据，模板可以通过访问上下文中的变量来动态渲染内容。性能：对于大型应用，Velocity 的性能可能不如一些更现代的模板引擎，尤其是在复杂页面渲染的情况下。
velocity-tools-generic-3.1-API文档-中英对照版.zip
05-04
赠送jar包：velocity-tools-generic-3.1.jar； 赠送原API文档：velocity-tools-generic-3.1-javadoc.jar； 赠送源代码：velocity-tools-generic-3.1-sources.jar； 赠送Maven依赖信息文件：velocity-tools-generic-...
yuan@yuan-virtual-machine:~/catkin_ws$ roslaunch ur_robot_driver ur5_bringup.launch robot_ip:=192.168.1.120 ... logging to /home/yuan/.ros/log/a5368822-6eb4-11f0-afbe-05d467d6740f/roslaunch-yuan-virtual-machine-9380.log Checking log directory for disk usage. This may take a while. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB. started roslaunch server http://yuan-virtual-machine:37881/ SUMMARY ======== PARAMETERS * /controller_stopper/consistent_controllers: ['joint_state_con... * /force_torque_sensor_controller/publish_rate: 125 * /force_torque_sensor_controller/type: force_torque_sens... * /forward_cartesian_traj_controller/joints: ['shoulder_pan_jo... * /forward_cartesian_traj_controller/type: pass_through_cont... * /forward_joint_traj_controller/joints: ['shoulder_pan_jo... * /forward_joint_traj_controller/type: pass_through_cont... * /hardware_control_loop/loop_hz: 125 * /joint_based_cartesian_traj_controller/base: base * /joint_based_cartesian_traj_controller/joints: ['shoulder_pan_jo... * /joint_based_cartesian_traj_controller/tip: tool0 * /joint_based_cartesian_traj_controller/type: position_controll... * /joint_group_vel_controller/joints: ['shoulder_pan_jo... * /joint_group_vel_controller/type: velocity_controll... * /joint_state_controller/publish_rate: 125 * /joint_state_controller/type: joint_state_contr... * /pos_joint_traj_controller/action_monitor_rate: 20 * /pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/goal_time: 0.6 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 * /pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2 * /pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 * /pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2 * /pos_joint_traj_controller/joints: ['shoulder_pan_jo... * /pos_joint_traj_controller/state_publish_rate: 125 * /pos_joint_traj_controller/stop_trajectory_duration: 0.5 * /pos_joint_traj_controller/type: position_controll... * /pose_based_cartesian_traj_controller/base: base * /pose_based_cartesian_traj_controller/joints: ['shoulder_pan_jo... * /pose_based_cartesian_traj_controller/tip: tool0_controller * /pose_based_cartesian_traj_controller/type: pose_controllers/... * /robot_description: <?xml version="1.... * /robot_status_controller/handle_name: industrial_robot_... * /robot_status_controller/publish_rate: 10 * /robot_status_controller/type: industrial_robot_... * /rosdistro: noetic * /rosversion: 1.17.4 * /scaled_pos_joint_traj_controller/action_monitor_rate: 20 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/elbow_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/goal_time: 0.6 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 * /scaled_pos_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.2 * /scaled_pos_joint_traj_controller/joints: ['shoulder_pan_jo... * /scaled_pos_joint_traj_controller/state_publish_rate: 125 * /scaled_pos_joint_traj_controller/stop_trajectory_duration: 0.5 * /scaled_pos_joint_traj_controller/type: position_controll... * /scaled_vel_joint_traj_controller/action_monitor_rate: 20 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/goal_time: 0.6 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 * /scaled_vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1 * /scaled_vel_joint_traj_controller/gains/elbow_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/elbow_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1 * /scaled_vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0 * /scaled_vel_joint_traj_controller/joints: ['shoulder_pan_jo... * /scaled_vel_joint_traj_controller/state_publish_rate: 125 * /scaled_vel_joint_traj_controller/stop_trajectory_duration: 0.5 * /scaled_vel_joint_traj_controller/type: velocity_controll... * /scaled_vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0 * /scaled_vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0 * /speed_scaling_state_controller/publish_rate: 125 * /speed_scaling_state_controller/type: scaled_controller... * /twist_controller/frame_id: tool0_controller * /twist_controller/joints: ['shoulder_pan_jo... * /twist_controller/publish_rate: 125 * /twist_controller/type: ros_controllers_c... * /ur_hardware_interface/headless_mode: False * /ur_hardware_interface/input_recipe_file: /opt/ros/noetic/s... * /ur_hardware_interface/joints: ['shoulder_pan_jo... * /ur_hardware_interface/kinematics/forearm/pitch: 0 * /ur_hardware_interface/kinematics/forearm/roll: 0 * /ur_hardware_interface/kinematics/forearm/x: -0.425 * /ur_hardware_interface/kinematics/forearm/y: 0 * /ur_hardware_interface/kinematics/forearm/yaw: 0 * /ur_hardware_interface/kinematics/forearm/z: 0 * /ur_hardware_interface/kinematics/hash: calib_20954911754... * /ur_hardware_interface/kinematics/shoulder/pitch: 0 * /ur_hardware_interface/kinematics/shoulder/roll: 0 * /ur_hardware_interface/kinematics/shoulder/x: 0 * /ur_hardware_interface/kinematics/shoulder/y: 0 * /ur_hardware_interface/kinematics/shoulder/yaw: 0 * /ur_hardware_interface/kinematics/shoulder/z: 0.089159 * /ur_hardware_interface/kinematics/upper_arm/pitch: 0 * /ur_hardware_interface/kinematics/upper_arm/roll: 1.570796327 * /ur_hardware_interface/kinematics/upper_arm/x: 0 * /ur_hardware_interface/kinematics/upper_arm/y: 0 * /ur_hardware_interface/kinematics/upper_arm/yaw: 0 * /ur_hardware_interface/kinematics/upper_arm/z: 0 * /ur_hardware_interface/kinematics/wrist_1/pitch: 0 * /ur_hardware_interface/kinematics/wrist_1/roll: 0 * /ur_hardware_interface/kinematics/wrist_1/x: -0.39225 * /ur_hardware_interface/kinematics/wrist_1/y: 0 * /ur_hardware_interface/kinematics/wrist_1/yaw: 0 * /ur_hardware_interface/kinematics/wrist_1/z: 0.10915 * /ur_hardware_interface/kinematics/wrist_2/pitch: 0 * /ur_hardware_interface/kinematics/wrist_2/roll: 1.570796327 * /ur_hardware_interface/kinematics/wrist_2/x: 0 * /ur_hardware_interface/kinematics/wrist_2/y: -0.09465 * /ur_hardware_interface/kinematics/wrist_2/yaw: 0 * /ur_hardware_interface/kinematics/wrist_2/z: -1.94130395089760... * /ur_hardware_interface/kinematics/wrist_3/pitch: 3.141592653589793 * /ur_hardware_interface/kinematics/wrist_3/roll: 1.570796326589793 * /ur_hardware_interface/kinematics/wrist_3/x: 0 * /ur_hardware_interface/kinematics/wrist_3/y: 0.0823 * /ur_hardware_interface/kinematics/wrist_3/yaw: 3.141592653589793 * /ur_hardware_interface/kinematics/wrist_3/z: -1.68800121668117... * /ur_hardware_interface/output_recipe_file: /opt/ros/noetic/s... * /ur_hardware_interface/reverse_ip: * /ur_hardware_interface/reverse_port: 50001 * /ur_hardware_interface/robot_ip: 192.168.1.120 * /ur_hardware_interface/robot_receive_timeout: 0.02 * /ur_hardware_interface/script_command_port: 50004 * /ur_hardware_interface/script_file: /opt/ros/noetic/s... * /ur_hardware_interface/script_sender_port: 50002 * /ur_hardware_interface/servoj_gain: 2000 * /ur_hardware_interface/servoj_lookahead_time: 0.03 * /ur_hardware_interface/tf_prefix: * /ur_hardware_interface/tool_baud_rate: 115200 * /ur_hardware_interface/tool_parity: 0 * /ur_hardware_interface/tool_rx_idle_chars: 1.5 * /ur_hardware_interface/tool_stop_bits: 1 * /ur_hardware_interface/tool_tx_idle_chars: 3.5 * /ur_hardware_interface/tool_voltage: 0 * /ur_hardware_interface/trajectory_port: 50003 * /ur_hardware_interface/use_spline_interpolation: True * /ur_hardware_interface/use_tool_communication: False * /vel_joint_traj_controller/action_monitor_rate: 20 * /vel_joint_traj_controller/constraints/elbow_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/elbow_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/goal_time: 0.6 * /vel_joint_traj_controller/constraints/shoulder_lift_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/shoulder_lift_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/shoulder_pan_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/shoulder_pan_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/stopped_velocity_tolerance: 0.05 * /vel_joint_traj_controller/constraints/wrist_1_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/wrist_1_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/wrist_2_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/wrist_2_joint/trajectory: 0.1 * /vel_joint_traj_controller/constraints/wrist_3_joint/goal: 0.1 * /vel_joint_traj_controller/constraints/wrist_3_joint/trajectory: 0.1 * /vel_joint_traj_controller/gains/elbow_joint/d: 0.1 * /vel_joint_traj_controller/gains/elbow_joint/i: 0.05 * /vel_joint_traj_controller/gains/elbow_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/elbow_joint/p: 5.0 * /vel_joint_traj_controller/gains/shoulder_lift_joint/d: 0.1 * /vel_joint_traj_controller/gains/shoulder_lift_joint/i: 0.05 * /vel_joint_traj_controller/gains/shoulder_lift_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/shoulder_lift_joint/p: 5.0 * /vel_joint_traj_controller/gains/shoulder_pan_joint/d: 0.1 * /vel_joint_traj_controller/gains/shoulder_pan_joint/i: 0.05 * /vel_joint_traj_controller/gains/shoulder_pan_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/shoulder_pan_joint/p: 5.0 * /vel_joint_traj_controller/gains/wrist_1_joint/d: 0.1 * /vel_joint_traj_controller/gains/wrist_1_joint/i: 0.05 * /vel_joint_traj_controller/gains/wrist_1_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/wrist_1_joint/p: 5.0 * /vel_joint_traj_controller/gains/wrist_2_joint/d: 0.1 * /vel_joint_traj_controller/gains/wrist_2_joint/i: 0.05 * /vel_joint_traj_controller/gains/wrist_2_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/wrist_2_joint/p: 5.0 * /vel_joint_traj_controller/gains/wrist_3_joint/d: 0.1 * /vel_joint_traj_controller/gains/wrist_3_joint/i: 0.05 * /vel_joint_traj_controller/gains/wrist_3_joint/i_clamp: 1 * /vel_joint_traj_controller/gains/wrist_3_joint/p: 5.0 * /vel_joint_traj_controller/joints: ['shoulder_pan_jo... * /vel_joint_traj_controller/state_publish_rate: 125 * /vel_joint_traj_controller/stop_trajectory_duration: 0.5 * /vel_joint_traj_controller/type: velocity_controll... * /vel_joint_traj_controller/velocity_ff/elbow_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/shoulder_lift_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/shoulder_pan_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/wrist_1_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/wrist_2_joint: 1.0 * /vel_joint_traj_controller/velocity_ff/wrist_3_joint: 1.0 NODES / controller_stopper (ur_robot_driver/controller_stopper_node) robot_state_publisher (robot_state_publisher/robot_state_publisher) ros_control_controller_spawner (controller_manager/spawner) ros_control_stopped_spawner (controller_manager/spawner) ur_hardware_interface (ur_robot_driver/ur_robot_driver_node) /ur_hardware_interface/ ur_robot_state_helper (ur_robot_driver/robot_state_helper) auto-starting new master process[master]: started with pid [9390] ROS_MASTER_URI=http://localhost:11311 setting /run_id to a5368822-6eb4-11f0-afbe-05d467d6740f process[rosout-1]: started with pid [9400] started core service [/rosout] process[robot_state_publisher-2]: started with pid [9407] process[ur_hardware_interface-3]: started with pid [9408] process[ros_control_controller_spawner-4]: started with pid [9409] process[ros_control_stopped_spawner-5]: started with pid [9411] process[controller_stopper-6]: started with pid [9416] [INFO] [1754038260.481594732]: Initializing dashboard client [INFO] [1754038260.487405631]: Connected: Universal Robots Dashboard Server process[ur_hardware_interface/ur_robot_state_helper-7]: started with pid [9425] [INFO] [1754038260.506479611]: Waiting for controller manager service to come up on /controller_manager/switch_controller [INFO] [1754038260.508678646]: waitForService: Service [/controller_manager/switch_controller] has not been advertised, waiting... [INFO] [1754038260.510850350]: Initializing urdriver [WARN] [1754038260.515403691]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/real_time.html for details. [INFO] [1754038260.758709]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1754038260.858406]: Controller Spawner: Waiting for service controller_manager/load_controller [INFO] [1754038260.872882426]: Negotiated RTDE protocol version to 2. [INFO] [1754038260.874552649]: Setting up RTDE communication with frequency 125.000000 [INFO] [1754038261.909298599]: Starting primary client pipeline [INFO] [1754038261.911420659]: Checking if calibration data matches connected robot. [ERROR] [1754038262.911943409]: The calibration parameters of the connected robot don't match the ones from the given kinematics config file. Please be aware that this can lead to critical inaccuracies of tcp positions. Use the ur_calibration tool to extract the correct calibration from the robot and pass that into the description. See [https://github.com/UniversalRobots/Universal_Robots_ROS_Driver#extract-calibration-information] for details. [WARN] [1754038262.924839016]: Your system/user seems not to be setup for FIFO scheduling. We recommend using a lowlatency kernel with FIFO scheduling. See https://docs.universal-robots.com/Universal_Robots_ROS_Documentation/doc/ur_client_library/doc/real_time.html for details. [INFO] [1754038262.926228217]: Loaded ur_robot_driver hardware_interface [INFO] [1754038262.968037918]: waitForService: Service [/controller_manager/switch_controller] is now available. [INFO] [1754038262.968304438]: Service available. [INFO] [1754038262.968342370]: Waiting for controller list service to come up on /controller_manager/list_controllers [INFO] [1754038262.969123410]: Service available. [INFO] [1754038262.977452]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1754038262.980766]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1754038262.983952]: Loading controller: pos_joint_traj_controller [INFO] [1754038263.034800]: Loading controller: joint_group_vel_controller [INFO] [1754038263.049548]: Controller Spawner: Loaded controllers: pos_joint_traj_controller, joint_group_vel_controller [INFO] [1754038263.181526427]: Robot mode is now POWER_OFF [INFO] [1754038263.183844862]: Robot's safety mode is now NORMAL [INFO] [1754038263.184011]: Controller Spawner: Waiting for service controller_manager/switch_controller [INFO] [1754038263.187691]: Controller Spawner: Waiting for service controller_manager/unload_controller [INFO] [1754038263.191352]: Loading controller: joint_state_controller [INFO] [1754038263.209029]: Loading controller: scaled_pos_joint_traj_controller [INFO] [1754038263.257595]: Loading controller: speed_scaling_state_controller [INFO] [1754038263.273802]: Loading controller: force_torque_sensor_controller [INFO] [1754038263.289856]: Controller Spawner: Loaded controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller [INFO] [1754038263.297306]: Started controllers: joint_state_controller, scaled_pos_joint_traj_controller, speed_scaling_state_controller, force_torque_sensor_controller
08-02
我们正在处理用户关于启动UR5机器人驱动时出现的两个警告问题：`calibration parameters mismatch` 和 `FIFO scheduling setup`。根据用户提供的引用[1][2]，我们知道UR机器人的启动需要正确的标定文件（kinematics_...
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