Open

ROS2 FoxyでmyCobotを動かす

7

動作確認環境

項目 詳細 備考
本体 Raspberry Pi 4B メモリ4GB,SSDブート
SSD SSD-PSM250U3-B/N 250GB
OS Ubuntu Desktop 20.04.02 LTS 64ビット版
ROS ROS2 Foxy Fitzroy Installing ROS 2 via Debian Packages
Install colcon
Python Python 3.8.5 /usr/bin/python3
ディスプレイ Raspberry Pi タッチディスプレイ
ケース SmartiPi Touch Pro
ubuntu@ubuntupi4:~$ cat /proc/device-tree/model
Raspberry Pi 4 Model B Rev 1.2
ubuntu@ubuntupi4:~$ free -h
              total        used        free      shared  buff/cache   available
Mem:          3.7Gi       1.5Gi       283Mi       9.0Mi       1.9Gi       2.1Gi
Swap:            0B          0B          0B
ubuntu@ubuntupi4:~ $ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description:    Ubuntu 20.04.2 LTS
Release:        20.04
Codename:       focal
ubuntu@ubuntupi4:~$ python3 -V
Python 3.8.5

~/.bashrcに追加した設定

export ROS_DISTRO=foxy
if [ -f /opt/ros/$ROS_DISTRO/setup.bash ]; then
  . /opt/ros/$ROS_DISTRO/setup.bash
fi

. /usr/share/colcon_cd/function/colcon_cd.sh
export _colcon_cd_root=~/ros2_ws
if [ -f $_colcon_cd_root/install/setup.bash ]; then
  . $_colcon_cd_root/install/setup.bash
fi

作業手順

pymycobotのインストール

ubuntu@ubuntupi4:~/ros2_ws$ pip3 install --user pymycobot
Collecting pymycobot
  Using cached pymycobot-2.2.1-py3-none-any.whl (12 kB)
Requirement already satisfied: pyserial in /usr/lib/python3/dist-packages (from pymycobot) (3.4)
Installing collected packages: pymycobot
Successfully installed pymycobot-2.2.1

myCobotROSのインストール

ubuntu@ubuntupi4:~$ mkdir -p ~/ros2_ws/src
ubuntu@ubuntupi4:~$ cd ros2_ws/src
ubuntu@ubuntupi4:~/ros2_ws/src$ git clone -b add_foxy_files https://github.com/nisshan-x/myCobotROS.git
Cloning into 'myCobotROS'...
remote: Enumerating objects: 17, done.
remote: Counting objects: 100% (17/17), done.
remote: Compressing objects: 100% (13/13), done.
remote: Total 237 (delta 3), reused 11 (delta 3), pack-reused 220
Receiving objects: 100% (237/237), 5.33 MiB | 2.47 MiB/s, done.
Resolving deltas: 100% (128/128), done.
ubuntu@ubuntupi4:~/ros2_ws/src$ cd ..
ubuntu@ubuntupi4:~/ros2_ws$ rosdep update
reading in sources list data from /etc/ros/rosdep/sources.list.d
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/osx-homebrew.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/base.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/python.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/rosdep/ruby.yaml
Hit https://raw.githubusercontent.com/ros/rosdistro/master/releases/fuerte.yaml
Query rosdistro index https://raw.githubusercontent.com/ros/rosdistro/master/index-v4.yaml
Skip end-of-life distro "ardent"
Skip end-of-life distro "bouncy"
Skip end-of-life distro "crystal"
Add distro "dashing"
Skip end-of-life distro "eloquent"
Add distro "foxy"
Skip end-of-life distro "groovy"
Skip end-of-life distro "hydro"
Skip end-of-life distro "indigo"
Skip end-of-life distro "jade"
Add distro "kinetic"
Skip end-of-life distro "lunar"
Add distro "melodic"
Add distro "noetic"
Add distro "rolling"
updated cache in /home/ubuntu/.ros/rosdep/sources.cache
ubuntu@ubuntupi4:~/ros2_ws$ rosdep install -r -y -i --from-paths src
WARNING: Package name "myCobotROS" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
WARNING: Package name "myCobotROS" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
WARNING: Package name "myCobotROS" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
executing command [sudo -H apt-get install -y ros-foxy-joint-state-publisher-gui]
パッケージリストを読み込んでいます... 完了
依存関係ツリーを作成しています
状態情報を読み取っています... 完了
以下の追加パッケージがインストールされます:
  ros-foxy-joint-state-publisher
以下のパッケージが新たにインストールされます:
  ros-foxy-joint-state-publisher ros-foxy-joint-state-publisher-gui
アップグレード: 0 個、新規インストール: 2 個、削除: 0 個、保留: 0 個。
27.8 kB のアーカイブを取得する必要があります。
この操作後に追加で 127 kB のディスク容量が消費されます。
取得:1 http://packages.ros.org/ros2/ubuntu focal/main arm64 ros-foxy-joint-state-publisher arm64 2.2.0-1focal.20210106.020646 [14.3 kB]
取得:2 http://packages.ros.org/ros2/ubuntu focal/main arm64 ros-foxy-joint-state-publisher-gui arm64 2.2.0-1focal.20210106.021004 [13.5 kB]
27.8 kB を 2秒 で取得しました (14.9 kB/s)
以前に未選択のパッケージ ros-foxy-joint-state-publisher を選択しています。
(データベースを読み込んでいます ... 現在 308370 個のファイルとディレクトリがインストールされています。)
.../ros-foxy-joint-state-publisher_2.2.0-1focal.20210106.020646_arm64.deb を展開する準備をしています ...
ros-foxy-joint-state-publisher (2.2.0-1focal.20210106.020646) を展開しています...
以前に未選択のパッケージ ros-foxy-joint-state-publisher-gui を選択しています。
.../ros-foxy-joint-state-publisher-gui_2.2.0-1focal.20210106.021004_arm64.deb を展開する準備をしています ...
ros-foxy-joint-state-publisher-gui (2.2.0-1focal.20210106.021004) を展開しています...
ros-foxy-joint-state-publisher (2.2.0-1focal.20210106.020646) を設定しています ...
ros-foxy-joint-state-publisher-gui (2.2.0-1focal.20210106.021004) を設定しています ...
Files have not changed, Decompression not needed
#All required rosdeps installed successfully
ubuntu@ubuntupi4:~/ros2_ws$ colcon build
WARNING: Package name "myCobotROS" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
Starting >>> myCobotROS
[1.947s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'myCobotROS' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[1.949s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'myCobotROS' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
Finished <<< myCobotROS [2.60s]

Summary: 1 package finished [3.08s]

control_marker.launch.pyの起動

ubuntu@ubuntupi4:~$ colcon_cd
ubuntu@ubuntupi4:~/ros2_ws$ . install/local_setup.bash
ubuntu@ubuntupi4:~/ros2_ws$ ros2 launch myCobotROS control_marker.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2021-02-18-12-09-21-288785-ubuntupi4-28551
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [28553]
[INFO] [joint_state_publisher_gui-2]: process started with pid [28555]
[INFO] [control_marker-3]: process started with pid [28557]
[INFO] [rviz2-4]: process started with pid [28559]
[robot_state_publisher-1] Parsing robot urdf xml string.
[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] [1613617761.800113461] [robot_state_publisher]: got segment joint1
[robot_state_publisher-1] [INFO] [1613617761.800462660] [robot_state_publisher]: got segment joint2
[robot_state_publisher-1] [INFO] [1613617761.800542325] [robot_state_publisher]: got segment joint3
[robot_state_publisher-1] [INFO] [1613617761.800577454] [robot_state_publisher]: got segment joint4
[robot_state_publisher-1] [INFO] [1613617761.800608083] [robot_state_publisher]: got segment joint5
[robot_state_publisher-1] [INFO] [1613617761.800636546] [robot_state_publisher]: got segment joint6
[robot_state_publisher-1] [INFO] [1613617761.800665323] [robot_state_publisher]: got segment joint6_flange
[control_marker-3] Exception ignored in: <function InteractiveMarkerServer.__del__ at 0xffffa3103820>
[control_marker-3] Traceback (most recent call last):
[control_marker-3]   File "/opt/ros/foxy/lib/python3.8/site-packages/interactive_markers/interactive_marker_server.py", line 151, in __del__
[control_marker-3]     self.shutdown()
[control_marker-3]   File "/opt/ros/foxy/lib/python3.8/site-packages/interactive_markers/interactive_marker_server.py", line 143, in shutdown
[control_marker-3]     self.clear()
[control_marker-3]   File "/opt/ros/foxy/lib/python3.8/site-packages/interactive_markers/interactive_marker_server.py", line 229, in clear
[control_marker-3]     for marker_name in self.marker_contexts.keys():
[control_marker-3] AttributeError: 'InteractiveMarkerServer' object has no attribute 'marker_contexts'
[control_marker-3] Traceback (most recent call last):
[control_marker-3]   File "/home/ubuntu/ros2_ws/install/myCobotROS/lib/python3.8/site-packages/scripts/control_marker.py", line 231, in main
[control_marker-3]     control_marker = ControlMarker()
[control_marker-3]   File "/home/ubuntu/ros2_ws/install/myCobotROS/lib/python3.8/site-packages/scripts/control_marker.py", line 38, in __init__
[control_marker-3]     self.server = InteractiveMarkerServer('mycobot_controller')
[control_marker-3] TypeError: __init__() missing 1 required positional argument: 'namespace'
[control_marker-3]
[control_marker-3] During handling of the above exception, another exception occurred:
[control_marker-3]
[control_marker-3] Traceback (most recent call last):
[control_marker-3]   File "/home/ubuntu/ros2_ws/install/myCobotROS/lib/myCobotROS/control_marker", line 11, in <module>
[control_marker-3]     load_entry_point('myCobotROS==0.0.0', 'console_scripts', 'control_marker')()
[control_marker-3]   File "/home/ubuntu/ros2_ws/install/myCobotROS/lib/python3.8/site-packages/scripts/control_marker.py", line 234, in main
[control_marker-3]     control_marker.destroy_node()
[control_marker-3] UnboundLocalError: local variable 'control_marker' referenced before assignment
[rviz2-4] [INFO] [1613617764.650004794] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1613617764.650797356] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[rviz2-4] [INFO] [1613617764.853516141] [rviz2]: Stereo is NOT SUPPORTED
[ERROR] [control_marker-3]: process has died [pid 28557, exit code 1, cmd '/home/ubuntu/ros2_ws/install/myCobotROS/lib/myCobotROS/control_marker --ros-args'].
[joint_state_publisher_gui-2] [INFO] [1613617765.357433288] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[joint_state_publisher_gui-2] [INFO] [1613617765.403284463] [joint_state_publisher]: Centering
[joint_state_publisher_gui-2] [INFO] [1613617766.797652868] [joint_state_publisher]: Centering

以下のエラーが出ているが,RVizは起動する。

[control_marker-3]     self.server = InteractiveMarkerServer('mycobot_controller')
[control_marker-3] TypeError: __init__() missing 1 required positional argument: 'namespace'

RvizにmyCobotは表示されていない。

Global Statusに「Frame [map] does not exist」というエラーが出ている。Fixed Frameでjoint1,joint2,joint3,joint4,joint5,joint6,joint6_flangeが選べて,どれかを選べばGlobal StatusのFixed FrameがOKになる。

RViz

control_slider.launch.pyの起動

ubuntu@ubuntupi4:~/ros2_ws$ ros2 launch myCobotROS control_slider.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2021-02-18-12-32-22-358981-ubuntupi4-28725
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [28727]
[INFO] [joint_state_publisher_gui-2]: process started with pid [28729]
[INFO] [control_slider-3]: process started with pid [28731]
[INFO] [rviz2-4]: process started with pid [28733]
[robot_state_publisher-1] Parsing robot urdf xml string.
[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] [1613619142.843969950] [robot_state_publisher]: got segment joint1
[robot_state_publisher-1] [INFO] [1613619142.844642652] [robot_state_publisher]: got segment joint2
[robot_state_publisher-1] [INFO] [1613619142.844740652] [robot_state_publisher]: got segment joint3
[robot_state_publisher-1] [INFO] [1613619142.844781244] [robot_state_publisher]: got segment joint4
[robot_state_publisher-1] [INFO] [1613619142.844812096] [robot_state_publisher]: got segment joint5
[robot_state_publisher-1] [INFO] [1613619142.844839818] [robot_state_publisher]: got segment joint6
[robot_state_publisher-1] [INFO] [1613619142.844867040] [robot_state_publisher]: got segment joint6_flange
[control_slider-3] Traceback (most recent call last):
[control_slider-3]   File "/home/ubuntu/ros2_ws/install/myCobotROS/lib/myCobotROS/control_slider", line 11, in <module>
[control_slider-3]     load_entry_point('myCobotROS==0.0.0', 'console_scripts', 'control_slider')()
[control_slider-3]   File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 490, in load_entry_point
[control_slider-3]     return get_distribution(dist).load_entry_point(group, name)
[control_slider-3]   File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 2854, in load_entry_point
[control_slider-3]     return ep.load()
[control_slider-3]   File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 2445, in load
[control_slider-3]     return self.resolve()
[control_slider-3]   File "/usr/lib/python3/dist-packages/pkg_resources/__init__.py", line 2451, in resolve
[control_slider-3]     module = __import__(self.module_name, fromlist=['__name__'], level=0)
[control_slider-3] ModuleNotFoundError: No module named 'control_slider'
[ERROR] [control_slider-3]: process has died [pid 28731, exit code 1, cmd '/home/ubuntu/ros2_ws/install/myCobotROS/lib/myCobotROS/control_slider --ros-args'].
[rviz2-4] [INFO] [1613619145.077942028] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1613619145.078617952] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[rviz2-4] [INFO] [1613619145.243726131] [rviz2]: Stereo is NOT SUPPORTED
[joint_state_publisher_gui-2] [INFO] [1613619146.798244473] [joint_state_publisher]: Waiting for robot_description to be published on the robot_description topic...
[joint_state_publisher_gui-2] [INFO] [1613619146.845971356] [joint_state_publisher]: Centering
[joint_state_publisher_gui-2] [INFO] [1613619149.070566994] [joint_state_publisher]: Centering

control_sliderモジュールが見つからないというエラーが出ているが,RVizは起動する。

[control_slider-3] ModuleNotFoundError: No module named 'control_slider'

RVizの状況はcontrol_marker.launch.pyの起動と同じ。

https://twitter.com/nisshan_/status/1362263351284224004
ubuntu@ubuntupi4:~/ros2_ws$ colcom_cd myCobotROS
ubuntu@ubuntupi4:~/ros2_ws/src/myCobotROS$ git checkout foxy
Branch 'foxy' set up to track remote branch 'foxy' from 'origin'.
Switched to a new branch 'foxy'
ubuntu@ubuntupi4:~/ros2_ws/src/myCobotROS$ git pull
remote: Enumerating objects: 5, done.
remote: Counting objects: 100% (5/5), done.
remote: Compressing objects: 100% (5/5), done.
remote: Total 5 (delta 0), reused 0 (delta 0), pack-reused 0
Unpacking objects: 100% (5/5), 3.45 KiB | 1.15 MiB/s, done.
From https://github.com/nisshan-x/myCobotROS
   b3eaa5e..b8fd602  foxy       -> origin/foxy
Updating b3eaa5e..b8fd602
Fast-forward
 scripts/control_marker.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)
ubuntu@ubuntupi4:~/ros2_ws/src/myCobotROS$ colcon_cd
ubuntu@ubuntupi4:~/ros2_ws$ colcon build --cmake-clean-cache
WARNING: Package name "myCobotROS" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
Starting >>> myCobotROS
[1.931s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'myCobotROS' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[1.933s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'myCobotROS' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
Finished <<< myCobotROS [2.49s]

Summary: 1 package finished [2.94s]

control_marker.launch.pyが起動しない

control_slider.launch.pyが起動しない

  • create_subscription()の第4引数(qos_profile)が足りない

https://twitter.com/nisshan_/status/1362434065253560324
ubuntu@ubuntupi4:~/ros2_ws$ git remote add upstream https://github.com/nisshan-x/myCobotROS.git
ubuntu@ubuntupi4:~/ros2_ws$ git remote -v
origin  https://github.com/3110/myCobotROS.git (fetch)
origin  https://github.com/3110/myCobotROS.git (push)
upstream        https://github.com/nisshan-x/myCobotROS.git (fetch)
upstream        https://github.com/nisshan-x/myCobotROS.git (push)

ubuntu@ubuntupi4:~/ros2_ws/src/myCobotROS$ git fetch upstream
remote: Enumerating objects: 10, done.
remote: Counting objects: 100% (10/10), done.
remote: Compressing objects: 100% (3/3), done.
remote: Total 10 (delta 7), reused 10 (delta 7), pack-reused 0
Unpacking objects: 100% (10/10), 1.04 KiB | 177.00 KiB/s, done.
From https://github.com/nisshan-x/myCobotROS
 * [new branch]      foxy       -> upstream/foxy
 * [new branch]      main       -> upstream/main

ubuntu@ubuntupi4:~/ros2_ws/src$ git remote -v
origin  https://github.com/3110/myCobotROS.git (fetch)
origin  https://github.com/3110/myCobotROS.git (push)
upstream        https://github.com/nisshan-x/myCobotROS.git (fetch)
upstream        https://github.com/nisshan-x/myCobotROS.git (push)

ubuntu@ubuntupi4:~/ros2_ws$ git checkout foxy
Switched to branch 'foxy'
Your branch is up to date with 'origin/foxy'.

ubuntu@ubuntupi4:~/ros2_ws$ git merge upstream/foxy
Updating b8fd602..c8a0158
Fast-forward
 CMakeLists.txt                  | 18 ++++++++++++++++++
 launch/control_marker.launch.py | 11 ++++-------
 launch/control_slider.launch.py | 11 ++++-------
 launch/display.launch.py        | 13 ++++++-------
 scripts/control_marker.py       |  2 +-
 setup.py                        |  2 +-
 6 files changed, 34 insertions(+), 23 deletions(-)
 create mode 100644 CMakeLists.txt

ubuntu@ubuntupi4:~/ros2_ws/src/myCobotROS$ git checkout fix_errors_on_startup
Switched to branch 'fix_errors_on_startup'
Your branch is up to date with 'origin/fix_errors_on_startup'.

ubuntu@ubuntupi4:~/ros2_ws/src/myCobotROS$ git merge foxy
Auto-merging scripts/control_marker.py
Merge made by the 'recursive' strategy.
 CMakeLists.txt                  | 18 ++++++++++++++++++
 launch/control_marker.launch.py | 11 ++++-------
 launch/control_slider.launch.py | 11 ++++-------
 launch/display.launch.py        | 13 ++++++-------
 scripts/control_marker.py       |  2 +-
 setup.py                        |  2 +-
 6 files changed, 34 insertions(+), 23 deletions(-)
 create mode 100644 CMakeLists.txt

ubuntu@ubuntupi4:~/ros2_ws/src/myCobotROS$ colcon_cd
ubuntu@ubuntupi4:~/ros2_ws$ colcon build --cmake-clean-cache
WARNING: Package name "myCobotROS" does not follow the naming conventions. It should start with a lower case letter and only contain lower case letters, digits, underscores, and dashes.
Starting >>> myCobotROS
[1.910s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'myCobotROS' doesn't explicitly install a marker in the package index (colcon-ros currently does it implicitly but that fallback will be removed in the future)
[1.911s] WARNING:colcon.colcon_ros.task.ament_python.build:Package 'myCobotROS' doesn't explicitly install the 'package.xml' file (colcon-ros currently does it implicitly but that fallback will be removed in the future)
Finished <<< myCobotROS [2.45s]

Summary: 1 package finished [2.90s]

ubuntu@ubuntupi4:~/ros2_ws$ ros2 launch myCobotROS control_marker.launch.py
[INFO] [launch]: All log files can be found below /home/ubuntu/.ros/log/2021-02-19-01-40-18-584736-ubuntupi4-4299
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [robot_state_publisher-1]: process started with pid [4302]
[INFO] [joint_state_publisher_gui-2]: process started with pid [4304]
[INFO] [control_marker-3]: process started with pid [4306]
[INFO] [rviz2-4]: process started with pid [4308]
[robot_state_publisher-1] Parsing robot urdf xml string.
[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] [1613666419.036560920] [robot_state_publisher]: got segment joint1
[robot_state_publisher-1] [INFO] [1613666419.036956913] [robot_state_publisher]: got segment joint2
[robot_state_publisher-1] [INFO] [1613666419.037019986] [robot_state_publisher]: got segment joint3
[robot_state_publisher-1] [INFO] [1613666419.037052523] [robot_state_publisher]: got segment joint4
[robot_state_publisher-1] [INFO] [1613666419.037080615] [robot_state_publisher]: got segment joint5
[robot_state_publisher-1] [INFO] [1613666419.037108725] [robot_state_publisher]: got segment joint6
[robot_state_publisher-1] [INFO] [1613666419.037136354] [robot_state_publisher]: got segment joint6_flange
[rviz2-4] [INFO] [1613666421.136193355] [rviz2]: Stereo is NOT SUPPORTED
[rviz2-4] [INFO] [1613666421.137153135] [rviz2]: OpenGl version: 3.1 (GLSL 1.4)
[rviz2-4] [INFO] [1613666421.323090374] [rviz2]: Stereo is NOT SUPPORTED
[control_marker-3] [INFO] [1613666421.665377306] [control_marker]: [-0.529, 2.465, 2.674, -0.667, -2.885, -0.182]
[control_marker-3] [INFO] [1613666421.722432468] [control_marker]: [-0.529, 2.465, 2.674, -0.667, -2.885, -0.182]
[control_marker-3] [INFO] [1613666421.778183485] [control_marker]: [-0.529, 2.465, 2.674, -0.667, -2.885, -0.182]
...

画面

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