embeded/robot
elephant robototics mycobot ros2
구차니
2026. 7. 3. 12:25
일단은 micro HDMI 연결해서 시도.
다행히 x11 forwarding으로 되네. 모니터 안달아도 되겠다
| ros2shell ros2 run turtlesim turtlesim_node ros2 run turtlesim turtle_teleop_key |
하라는 대로 해보면 아래처럼 나온다.
ssh로 해서 귀찮아서 백그라운드로 돌리고 쑈하는 중
G(gola), B(?) 누르면 아래처럼 메시지가 나온다.
| (ros2 galactic py3)er@er:~$ ros2 run turtlesim turtlesim_node [INFO] [1783047470.975415679] [turtlesim]: Starting turtlesim with node name /turtlesim [INFO] [1783047470.985410507] [turtlesim]: Spawning turtle [turtle1] at x=[5.544445], y=[5.544445], theta=[0.000000] ^Z [1]+ Stopped ros2 run turtlesim turtlesim_node (ros2 galactic py3)er@er:~$ bg [1]+ ros2 run turtlesim turtlesim_node & (ros2 galactic py3)er@er:~$ ros2 run turtlesim turtle_teleop_key Reading from keyboard --------------------------- Use arrow keys to move the turtle. Use G|B|V|C|D|E|R|T keys to rotate to absolute orientations. 'F' to cancel a rotation. 'Q' to quit. [INFO] [1783047541.329042626] [turtlesim]: Rotation goal completed successfully [INFO] [1783047541.872528190] [turtlesim]: Rotation goal completed successfully [INFO] [1783047541.888733657] [turtlesim]: Rotation goal completed successfully [INFO] [1783047541.904818475] [turtlesim]: Rotation goal completed successfully [INFO] [1783047541.919834899] [turtlesim]: Rotation goal completed successfully [INFO] [1783047541.952188870] [turtlesim]: Rotation goal completed successfully [INFO] [1783047541.984665508] [turtlesim]: Rotation goal completed successfully [INFO] [1783047542.016009140] [turtlesim]: Rotation goal completed successfully [INFO] [1783047542.048402795] [turtlesim]: Rotation goal completed successfully [INFO] [1783047542.080809062] [turtlesim]: Rotation goal completed successfully [INFO] [1783047542.112165583] [turtlesim]: Rotation goal completed successfully [INFO] [1783047542.144652053] [turtlesim]: Rotation goal completed successfully [INFO] [1783047542.176082352] [turtlesim]: Rotation goal completed successfully [INFO] [1783047542.192223411] [turtlesim]: Rotation goal completed successfully [INFO] [1783047542.224715381] [turtlesim]: Rotation goal completed successfully [INFO] [1783047542.256142236] [turtlesim]: Rotation goal completed successfully [WARN] [1783047543.335142919] [turtlesim]: Rotation goal received before a previous goal finished. Aborting previous goal [INFO] [1783047543.806747242] [turtlesim]: Rotation goal completed successfully [WARN] [1783047545.833930732] [turtlesim]: Rotation goal received before a previous goal finished. Aborting previous goal [INFO] [1783047545.834608550] [turtlesim]: Rotation goal completed successfully [INFO] [1783047547.348717894] [turtlesim]: Rotation goal completed successfully |
B 눌러서 살짝 돌아간 거북이
실행하면 먼가 나오는데
| (ros2 galactic py3)er@er:~$ rqt_graph |
hide 쪽 다 끄니 먼가 좀 나온다.
아니면 위에 topic을 적어주면 먼가 나온다.
[링크 : https://m.blog.naver.com/zeta0807/221775210962]
-v 옵션 줘서 topic list를 하면 위의 그래프와 동일한 내용이 나온다.
| (ros2 galactic py3)er@er:~$ ros2 topic -h usage: ros2 topic [-h] [--include-hidden-topics] Call `ros2 topic <command> -h` for more detailed usage. ... Various topic related sub-commands optional arguments: -h, --help show this help message and exit --include-hidden-topics Consider hidden topics as well Commands: bw Display bandwidth used by topic delay Display delay of topic from timestamp in header echo Output messages from a topic find Output a list of available topics of a given type hz Print the average publishing rate to screen info Print information about a topic list Output a list of available topics pub Publish a message to a topic type Print a topic's type Call `ros2 topic <command> -h` for more detailed usage. (ros2 galactic py3)er@er:~$ ros2 topic list /parameter_events /rosout /turtle1/cmd_vel /turtle1/color_sensor /turtle1/pose (ros2 galactic py3)er@er:~$ ros2 topic list -v Published topics: * /parameter_events [rcl_interfaces/msg/ParameterEvent] 2 publishers * /rosout [rcl_interfaces/msg/Log] 2 publishers * /turtle1/color_sensor [turtlesim/msg/Color] 1 publisher * /turtle1/pose [turtlesim/msg/Pose] 1 publisher Subscribed topics: * /parameter_events [rcl_interfaces/msg/ParameterEvent] 2 subscribers * /turtle1/cmd_vel [geometry_msgs/msg/Twist] 1 subscriber |
[링크 : https://docs.elephantrobotics.com/docs/gitbook-en/12-ApplicationBaseROS/12.2-ROS2/12.2.2-基础教程.html]
하라는 대로 하니 되긴한다. 좋네~
| (ros2 galactic py3)er@er:~/colcon_ws$ colcon build --symlink-install Starting >>> mycobot_description Starting >>> mycobot_interfaces Starting >>> mypalletizer_interfaces Starting >>> mecharm_interfaces Finished <<< mycobot_description [9.82s] [Processing: mecharm_interfaces, mycobot_interfaces, mypalletizer_interfaces] [Processing: mecharm_interfaces, mycobot_interfaces, mypalletizer_interfaces] Finished <<< mecharm_interfaces [1min 10s] [Processing: mycobot_interfaces, mypalletizer_interfaces] [Processing: mycobot_interfaces, mypalletizer_interfaces] Finished <<< mycobot_interfaces [2min 26s] Starting >>> mycobot_communication Starting >>> mecharm_communication Finished <<< mypalletizer_interfaces [2min 28s] Starting >>> mypalletizer_communication Finished <<< mycobot_communication [10.3s] Starting >>> mybuddy Starting >>> mycobot_280 Finished <<< mecharm_communication [10.4s] Starting >>> mecharm Finished <<< mypalletizer_communication [10.6s] Starting >>> mecharm_pi Finished <<< mecharm [13.1s] Starting >>> mycobot_280jn Finished <<< mybuddy [13.4s] Starting >>> mycobot_280pi Finished <<< mycobot_280 [13.5s] Starting >>> mycobot_320 Finished <<< mecharm_pi [11.9s] Starting >>> mycobot_320pi Finished <<< mycobot_280jn [12.5s] Starting >>> mypalletizer_260 Finished <<< mycobot_320 [12.7s] Finished <<< mycobot_280pi [14.6s] Starting >>> mypalletizer_260_pi Starting >>> ultraarm Finished <<< mycobot_320pi [11.3s] Finished <<< mypalletizer_260 [10.2s] Finished <<< mypalletizer_260_pi [10.3s] Finished <<< ultraarm [10.3s] Summary: 18 packages finished [3min 17s] (ros2 galactic py3)er@er:~/colcon_ws$ source install/setup.bash (ros2 galactic py3)er@er:~/colcon_ws$ ros2 launch mycobot_280pi slider_control.launch.py [INFO] [launch]: All log files can be found below /home/er/.ros/log/2026-07-03-11-17-17-203959-er-9929 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [9959] [INFO] [joint_state_publisher_gui-2]: process started with pid [9961] [INFO] [rviz2-3]: process started with pid [9963] [INFO] [slider_control-4]: process started with pid [9965] [robot_state_publisher-1] Link joint2 had 1 children [robot_state_publisher-1] Link joint3 had 1 children [robot_state_publisher-1] Link joint4 had 1 children [robot_state_publisher-1] Link joint5 had 1 children [robot_state_publisher-1] Link joint6 had 1 children [robot_state_publisher-1] Link joint6_flange had 0 children [robot_state_publisher-1] [INFO] [1783048639.394243790] [robot_state_publisher]: got segment joint1 [robot_state_publisher-1] [INFO] [1783048639.394549934] [robot_state_publisher]: got segment joint2 [robot_state_publisher-1] [INFO] [1783048639.394636748] [robot_state_publisher]: got segment joint3 [robot_state_publisher-1] [INFO] [1783048639.394680932] [robot_state_publisher]: got segment joint4 [robot_state_publisher-1] [INFO] [1783048639.394718784] [robot_state_publisher]: got segment joint5 [robot_state_publisher-1] [INFO] [1783048639.394756061] [robot_state_publisher]: got segment joint6 [robot_state_publisher-1] [INFO] [1783048639.394793246] [robot_state_publisher]: got segment joint6_flange [joint_state_publisher_gui-2] [INFO] [1783048643.531952578] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic... [joint_state_publisher_gui-2] [INFO] [1783048643.610075662] [joint_state_publisher]: Centering [joint_state_publisher_gui-2] [INFO] [1783048644.027434405] [joint_state_publisher]: Centering [rviz2-3] [INFO] [1783048644.403594556] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] [INFO] [1783048644.404085494] [rviz2]: OpenGl version: 3.1 (GLSL 1.4) [rviz2-3] [INFO] [1783048647.151156049] [rviz2]: Stereo is NOT SUPPORTED [slider_control-4] array('d', [0.0, 0.0, 0.0, 0.0, 0.0, 0.0]) [slider_control-4] array('d', [-0.0004613180000001549, -0.0004613180000001549, -0.0004613180000001549, -0.0004613180000001549, -0.0004613180000001549, -0.0004613180000001549]) |
실제 장비가 움직이는진 모르겠지만 뜨긴한다.
| $ ros2 launch mycobot_280 test.launch.py [INFO] [launch]: All log files can be found below /home/er/.ros/log/2026-07-03-11-23-38-154196-er-10335 [INFO] [launch]: Default logging verbosity is set to INFO [INFO] [robot_state_publisher-1]: process started with pid [10367] [INFO] [joint_state_publisher_gui-2]: process started with pid [10369] [INFO] [rviz2-3]: process started with pid [10371] [robot_state_publisher-1] Link joint2 had 1 children [robot_state_publisher-1] Link joint3 had 1 children [robot_state_publisher-1] Link joint4 had 1 children [robot_state_publisher-1] Link joint5 had 1 children [robot_state_publisher-1] Link joint6 had 1 children [robot_state_publisher-1] Link joint6_flange had 0 children [robot_state_publisher-1] Link env had 0 children [robot_state_publisher-1] [INFO] [1783049020.099496084] [robot_state_publisher]: got segment env [robot_state_publisher-1] [INFO] [1783049020.099850118] [robot_state_publisher]: got segment joint1 [robot_state_publisher-1] [INFO] [1783049020.099978210] [robot_state_publisher]: got segment joint2 [robot_state_publisher-1] [INFO] [1783049020.100036728] [robot_state_publisher]: got segment joint3 [robot_state_publisher-1] [INFO] [1783049020.100077783] [robot_state_publisher]: got segment joint4 [robot_state_publisher-1] [INFO] [1783049020.100116357] [robot_state_publisher]: got segment joint5 [robot_state_publisher-1] [INFO] [1783049020.100152116] [robot_state_publisher]: got segment joint6 [robot_state_publisher-1] [INFO] [1783049020.100192041] [robot_state_publisher]: got segment joint6_flange [rviz2-3] [INFO] [1783049023.998647585] [rviz2]: Stereo is NOT SUPPORTED [rviz2-3] [INFO] [1783049023.999256988] [rviz2]: OpenGl version: 3.1 (GLSL 1.4) [joint_state_publisher_gui-2] [INFO] [1783049024.105868138] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic... [joint_state_publisher_gui-2] [INFO] [1783049024.137961673] [joint_state_publisher]: Centering [joint_state_publisher_gui-2] [INFO] [1783049024.490631764] [joint_state_publisher]: Centering [rviz2-3] [INFO] [1783049026.693983324] [rviz2]: Stereo is NOT SUPPORTED |
