还是厚着脸留个言,其实有些讲座当作一种分享,其言论视作为观点(或看法)而非真理更为合适。不管是机器人学还是控制学。我想到了李雅普诺夫稳定性,一些概念都在小修小补,原创的突破都停滞在百年前了……
ros2 foxy
void Turtle::velocityCallback(const geometry_msgs::msg::Twist::SharedPtr vel)
{
last_command_time_ = nh_->now();
lin_vel_x_ = vel->linear.x;
lin_vel_y_ = vel->linear.y;
ang_vel_ = vel->angular.z;
// Abort any active action
if (rotate_absolute_goal_handle_)
{
RCLCPP_WARN(nh_->get_logger(), "Velocity command received during rotation goal. Aborting goal");
rotate_absolute_goal_handle_->abort(rotate_absolute_result_);
rotate_absolute_goal_handle_ = nullptr;
}
}
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