一级倒立摆控制 —— ROS2 仿真

mkdir -p ~/pendulum_ws/src
cd ~/pendulum_ws/src
git clone -b foxy https://github.com/ros2-realtime-demo/pendulum.git
cd ~/pendulum_ws/
colcon build

cd ~/pendulum_ws
source ./install/setup.bash

ros2 launch pendulum_bringup pendulum_bringup.launch.py rviz:=True

/clicked_point
/disturbance
/initialpose
/joint_command
/joint_states
/move_base_simple/goal
/parameter_events
/pendulum_controller/transition_event
/pendulum_driver/transition_event
/pendulum_joint_states
/robot_description
/rosout
/teleop
/tf
/tf_static

/pendulum_controller
/pendulum_driver
/pendulum_state_publisher
/robot_state_publisher
/rviz2
/transform_listener_impl_55eb8906e3f0

/clicked_point
/disturbance
/initialpose
/joint_command
/joint_states
/move_base_simple/goal
/parameter_events
/pendulum_controller/transition_event
/pendulum_driver/transition_event
/pendulum_joint_states
/robot_description
/rosout
/teleop
/tf
/tf_static

# This represents a linear force applied to the pendulum cart along the X-axis
float64 force #沿 X 轴方向给小车施加的力

float64 pole_angle    #摆杆角度
float64 pole_velocity #摆杆速度
float64 cart_position #小车位置
float64 cart_velocity #小车速度
float64 cart_force    #小车受力

# This represents the desired state of the pendulum for teleoperation
# 表示想要倒立摆达到的状态
float64 pole_angle    # 摆杆角度
float64 pole_velocity #摆杆速度
float64 cart_position #小车位置
float64 cart_velocity #小车速度

# This expresses an estimated pose with a reference coordinate frame and timestamp
# 这表示一个带有参考坐标系和时间戳的估计姿态

std_msgs/Header header
        builtin_interfaces/Time stamp
                int32 sec
                uint32 nanosec
        string frame_id
PoseWithCovariance pose
        Pose pose
                Point position
                        float64 x
                        float64 y
                        float64 z
                Quaternion orientation  # 四元数方位
                        float64 x 0
                        float64 y 0
                        float64 z 0
                        float64 w 1
        float64[36] covariance

# This is a message that holds data to describe the state of a set of torque controlled joints.
#
# The state of each joint (revolute or prismatic) is defined by:
#  * the position of the joint (rad or m),
#  * the velocity of the joint (rad/s or m/s) and
#  * the effort that is applied in the joint (Nm or N).

# 这是一条消息，其中包含描述一组扭矩控制关节状态的数据。
#
# 每个关节（旋转或平移关节）的状态由以下参数定义：
# 关节的位置（弧度或米）、
# 关节的速度（弧度/秒或米/秒）和
# 施加在关节上的力（力矩）值（牛顿米或牛顿）。

# Each joint is uniquely identified by its name
# The header specifies the time at which the joint states were recorded. All the joint states
# in one message have to be recorded at the same time.
#
# This message consists of a multiple arrays, one for each part of the joint state.
# The goal is to make each of the fields optional. When e.g. your joints have no
# effort associated with them, you can leave the effort array empty.
#
# All arrays in this message should have the same size, or be empty.
# This is the only way to uniquely associate the joint name with the correct
# states.

std_msgs/Header header
        builtin_interfaces/Time stamp
                int32 sec
                uint32 nanosec
        string frame_id

string[] name
float64[] position
float64[] velocity
float64[] effort

geometry_msgs/TransformStamped[] transforms
        #
        #
        std_msgs/Header header
                builtin_interfaces/Time stamp
                        int32 sec
                        uint32 nanosec
                string frame_id
        string child_frame_id
        Transform transform
                Vector3 translation
                        float64 x
                        float64 y
                        float64 z
                Quaternion rotation
                        float64 x 0
                        float64 y 0
                        float64 z 0
                        float64 w 1

# This represents the transform between two coordinate frames in free space.
# 这表示自由空间中两个坐标系之间的变换。三维平移向量和四元数表示的旋转向量。
Vector3 translation
        float64 x
        float64 y
        float64 z
Quaternion rotation
        float64 x 0
        float64 y 0
        float64 z 0
        float64 w 1