[{"data":1,"prerenderedAt":3637},["ShallowReactive",2],{"wiki-page-/zh-cn/wiki/2023-12-30-ros2-tutorial/ch14-6-7-jian-pan-kong-zhi-jie-dian":3,"wiki-doc-items-/zh-cn/wiki/2023-12-30-ros2-tutorial/ch14-6-7-jian-pan-kong-zhi-jie-dian":3275,"language-switcher-data-/zh-cn/wiki/2023-12-30-ros2-tutorial/ch14-6-7-jian-pan-kong-zhi-jie-dian":3621,"wiki-i18n-paths-/zh-cn/wiki/2023-12-30-ros2-tutorial/ch14-6-7-jian-pan-kong-zhi-jie-dian":3636},{"id":4,"title":5,"body":6,"canonicalPath":3257,"chapter":3258,"chapterSort":3259,"date":3260,"description":55,"docI18nKey":3261,"docKey":3262,"docRoot":3263,"docTitle":3264,"extension":3265,"i18nKey":3266,"isBlogPost":3267,"isWikiDoc":86,"isWikiIndex":3267,"layout":3268,"legacyPath":3269,"locale":3270,"localeSlug":3271,"meta":3272,"navigation":86,"path":3257,"seo":3273,"sourcePath":3269,"sourceStem":3266,"stem":3266,"wikiDepth":62,"__hash__":3274},"content/wiki/2023-12-30-ros2-tutorial/ch14-6-7-键盘控制节点.md","键盘控制节点",{"type":7,"value":8,"toc":3250},"minimark",[9,13,22,45,49,77,197,247,254,257,864,867,936,939,942,960,1095,1098,1101,1105,1142,1145,1151,1157,1163,1169,1174,1177,1499,1502,3246],[10,11,12],"h3",{"id":12},"简介",[14,15,16,17,21],"p",{},"要在 ROS2 中使用 ",[18,19,20],"code",{},"keyboard"," 节点控制底盘，我们需要实现以下步骤：",[23,24,25,33,39],"ol",{},[26,27,28,32],"li",{},[29,30,31],"strong",{},"创建 ROS2 包"," 创建一个新的 ROS2 包用于实现键盘控制功能。",[26,34,35,38],{},[29,36,37],{},"编写键盘控制节点"," 编写一个 C++ 节点，用于监听键盘输入并发布速度命令。",[26,40,41,44],{},[29,42,43],{},"与麦轮底盘通信"," 将发布的速度命令与底盘控制结合。",[10,46,48],{"id":47},"twist消息接口","Twist消息接口",[50,51,56],"pre",{"className":52,"code":53,"language":54,"meta":55,"style":55},"language-bash shiki shiki-themes github-light github-dark","ros2 interface show geometry_msgs/msg/Twist\n","bash","",[18,57,58],{"__ignoreMap":55},[59,60,63,67,71,74],"span",{"class":61,"line":62},"line",1,[59,64,66],{"class":65},"sScJk","ros2",[59,68,70],{"class":69},"sZZnC"," interface",[59,72,73],{"class":69}," show",[59,75,76],{"class":69}," geometry_msgs/msg/Twist\n",[50,78,80],{"className":52,"code":79,"language":54,"meta":55,"style":55},"\n# This expresses velocity in free space broken into its linear and angular parts.\n\n# 该消息表示自由空间中的速度，分为线速度和角速度两部分。\n\nVector3  linear\n        float64 x  # 线速度的 x 分量（通常表示前后方向的速度）\n        float64 y  # 线速度的 y 分量（通常表示左右方向的速度）\n        float64 z  # 线速度的 z 分量（通常表示上下方向的速度）\n\nVector3  angular\n        float64 x  # 角速度的 x 分量（绕 x 轴的旋转速度）\n        float64 y  # 角速度的 y 分量（绕 y 轴的旋转速度）\n        float64 z  # 角速度的 z 分量（绕 z 轴的旋转速度）\n\n",[18,81,82,88,95,100,106,111,120,132,143,154,159,167,177,187],{"__ignoreMap":55},[59,83,84],{"class":61,"line":62},[59,85,87],{"emptyLinePlaceholder":86},true,"\n",[59,89,91],{"class":61,"line":90},2,[59,92,94],{"class":93},"sJ8bj","# This expresses velocity in free space broken into its linear and angular parts.\n",[59,96,98],{"class":61,"line":97},3,[59,99,87],{"emptyLinePlaceholder":86},[59,101,103],{"class":61,"line":102},4,[59,104,105],{"class":93},"# 该消息表示自由空间中的速度，分为线速度和角速度两部分。\n",[59,107,109],{"class":61,"line":108},5,[59,110,87],{"emptyLinePlaceholder":86},[59,112,114,117],{"class":61,"line":113},6,[59,115,116],{"class":65},"Vector3",[59,118,119],{"class":69},"  linear\n",[59,121,123,126,129],{"class":61,"line":122},7,[59,124,125],{"class":65},"        float64",[59,127,128],{"class":69}," x",[59,130,131],{"class":93},"  # 线速度的 x 分量（通常表示前后方向的速度）\n",[59,133,135,137,140],{"class":61,"line":134},8,[59,136,125],{"class":65},[59,138,139],{"class":69}," y",[59,141,142],{"class":93},"  # 线速度的 y 分量（通常表示左右方向的速度）\n",[59,144,146,148,151],{"class":61,"line":145},9,[59,147,125],{"class":65},[59,149,150],{"class":69}," z",[59,152,153],{"class":93},"  # 线速度的 z 分量（通常表示上下方向的速度）\n",[59,155,157],{"class":61,"line":156},10,[59,158,87],{"emptyLinePlaceholder":86},[59,160,162,164],{"class":61,"line":161},11,[59,163,116],{"class":65},[59,165,166],{"class":69},"  angular\n",[59,168,170,172,174],{"class":61,"line":169},12,[59,171,125],{"class":65},[59,173,128],{"class":69},[59,175,176],{"class":93},"  # 角速度的 x 分量（绕 x 轴的旋转速度）\n",[59,178,180,182,184],{"class":61,"line":179},13,[59,181,125],{"class":65},[59,183,139],{"class":69},[59,185,186],{"class":93},"  # 角速度的 y 分量（绕 y 轴的旋转速度）\n",[59,188,190,192,194],{"class":61,"line":189},14,[59,191,125],{"class":65},[59,193,150],{"class":69},[59,195,196],{"class":93},"  # 角速度的 z 分量（绕 z 轴的旋转速度）\n",[198,199,200,226],"ul",{},[26,201,202,205,206],{},[29,203,204],{},"线速度（linear）"," ：描述物体在三维空间中沿直线运动的速度。通常在移动机器人中：",[198,207,208,214,220],{},[26,209,210,213],{},[18,211,212],{},"x"," 表示前进/后退。",[26,215,216,219],{},[18,217,218],{},"y"," 表示左右平移。",[26,221,222,225],{},[18,223,224],{},"z"," 通常为 0，因为大部分地面机器人只在平面上运动。",[26,227,228,231,232],{},[29,229,230],{},"角速度（angular）"," ：描述物体在三维空间中绕某一轴旋转的速度。通常在移动机器人中：",[198,233,234,239],{},[26,235,236,238],{},[18,237,224],{}," 表示绕垂直轴的旋转（顺时针/逆时针）。",[26,240,241,243,244,246],{},[18,242,212],{}," 和 ",[18,245,218],{}," 通常为 0，因为大多数地面机器人只需要在平面上旋转。",[14,248,249,250,253],{},"这个消息类型广泛用于控制机器人运动，也就是我们常说的DOF自由度，通过发布到 ",[18,251,252],{},"/cmd_vel"," 话题，可以为机器人提供运动指令。",[10,255,256],{"id":256},"发布cmd_vel给单片机",[50,258,262],{"className":259,"code":260,"language":261,"meta":55,"style":55},"language-cpp shiki shiki-themes github-light github-dark","//初始化串口消息订阅\nrclcpp::Subscription\u003Cgeometry_msgs::msg::Twist>::SharedPtr cmd_vel_sub_;\ncmd_vel_sub_ = this->create_subscription\u003Cgeometry_msgs::msg::Twist(\"cmd_vel\",10,std::bind(&Serial_Node::cmd_vel_sub_callback,this,std::placeholders::_1));\n\n  void cmd_vel_sub_callback(const geometry_msgs::msg::Twist &cmd_msg)\n  {\n    // bool bool_buffer[] = {1, 0, 1, 0};\n    // int8_t int8_buffer[] = {0x11,0x22};\n    // int16_t int16_buffer[] = {2000,6666};\n    // int32_t int32_buffer[] = {305419896};\n    fp32 fp32_buffer[] = {(fp32)cmd_msg.linear.x,(fp32)cmd_msg.linear.y,(fp32)cmd_msg.linear.z,\n                          (fp32)cmd_msg.angular.x,(fp32)cmd_msg.angular.y,(fp32)cmd_msg.angular.z};\n\n    //由于ROS2中node为局部变量，所以只能在node中调用send函数，所以Serial_Transmit只负责处理data_buffer。\n    serial_pack_.tx.Data_Pack(0x01, \n                                 nullptr, 0,\n                                 nullptr, 0,\n                                 nullptr, 0,\n                                 nullptr, 0,\n                                 fp32_buffer, sizeof(fp32_buffer) / sizeof(fp32));\n\n    auto port = serial_driver_->port();\n\n    try\n    {\n      size_t bytes_size = port->send(data_buffer);\n      // RCLCPP_INFO(this->get_logger(), \"Transmitted: \");\n      // for (size_t i = 0; i \u003C data_buffer.size(); ++i) \n      // {\n        // RCLCPP_INFO(this->get_logger(), \"0x%02X \", data_buffer[i]);  //以十六进制格式打印每个字节\n      // }\n      RCLCPP_INFO(this->get_logger(), \"平动XYZ：%.6f,%.6f,%.6f\", fp32_buffer[0],fp32_buffer[1],fp32_buffer[2]);\n      RCLCPP_INFO(this->get_logger(), \"转动XYZ：%.6f,%.6f,%.6f\", fp32_buffer[3],fp32_buffer[4],fp32_buffer[5]);\n      RCLCPP_INFO(this->get_logger(), \"(%ld bytes)\", bytes_size);\n      // (void)bytes_size;\n    }\n    catch(const std::exception &ex)\n    {\n      RCLCPP_ERROR(this->get_logger(), \"Error Transmiting from serial port:%s\",ex.what());\n    }\n  }\n};\n","cpp",[18,263,264,269,300,376,380,414,419,424,429,434,439,449,454,458,463,483,498,509,520,531,552,557,577,582,588,594,614,620,626,632,641,647,702,749,776,782,788,809,814,847,852,858],{"__ignoreMap":55},[59,265,266],{"class":61,"line":62},[59,267,268],{"class":93},"//初始化串口消息订阅\n",[59,270,271,274,278,281,284,287,289,292,294,297],{"class":61,"line":90},[59,272,273],{"class":65},"rclcpp",[59,275,277],{"class":276},"sVt8B","::",[59,279,280],{"class":65},"Subscription",[59,282,283],{"class":276},"\u003C",[59,285,286],{"class":65},"geometry_msgs",[59,288,277],{"class":276},[59,290,291],{"class":65},"msg",[59,293,277],{"class":276},[59,295,296],{"class":65},"Twist",[59,298,299],{"class":276},">::SharedPtr cmd_vel_sub_;\n",[59,301,302,305,309,313,316,318,320,322,324,326,328,331,334,337,340,342,345,347,350,352,355,358,361,364,366,368,370,373],{"class":61,"line":97},[59,303,304],{"class":276},"cmd_vel_sub_ ",[59,306,308],{"class":307},"szBVR","=",[59,310,312],{"class":311},"sj4cs"," this",[59,314,315],{"class":276},"->create_subscription",[59,317,283],{"class":307},[59,319,286],{"class":65},[59,321,277],{"class":276},[59,323,291],{"class":65},[59,325,277],{"class":276},[59,327,296],{"class":65},[59,329,330],{"class":276},"(",[59,332,333],{"class":69},"\"cmd_vel\"",[59,335,336],{"class":276},",",[59,338,339],{"class":311},"10",[59,341,336],{"class":276},[59,343,344],{"class":65},"std",[59,346,277],{"class":276},[59,348,349],{"class":65},"bind",[59,351,330],{"class":276},[59,353,354],{"class":307},"&",[59,356,357],{"class":65},"Serial_Node",[59,359,360],{"class":276},"::cmd_vel_sub_callback,",[59,362,363],{"class":311},"this",[59,365,336],{"class":276},[59,367,344],{"class":65},[59,369,277],{"class":276},[59,371,372],{"class":65},"placeholders",[59,374,375],{"class":276},"::_1));\n",[59,377,378],{"class":61,"line":102},[59,379,87],{"emptyLinePlaceholder":86},[59,381,382,385,388,390,393,396,398,400,402,404,407,411],{"class":61,"line":108},[59,383,384],{"class":307},"  void",[59,386,387],{"class":65}," cmd_vel_sub_callback",[59,389,330],{"class":276},[59,391,392],{"class":307},"const",[59,394,395],{"class":65}," geometry_msgs",[59,397,277],{"class":276},[59,399,291],{"class":65},[59,401,277],{"class":276},[59,403,296],{"class":65},[59,405,406],{"class":307}," &",[59,408,410],{"class":409},"s4XuR","cmd_msg",[59,412,413],{"class":276},")\n",[59,415,416],{"class":61,"line":113},[59,417,418],{"class":276},"  {\n",[59,420,421],{"class":61,"line":122},[59,422,423],{"class":93},"    // bool bool_buffer[] = {1, 0, 1, 0};\n",[59,425,426],{"class":61,"line":134},[59,427,428],{"class":93},"    // int8_t int8_buffer[] = {0x11,0x22};\n",[59,430,431],{"class":61,"line":145},[59,432,433],{"class":93},"    // int16_t int16_buffer[] = {2000,6666};\n",[59,435,436],{"class":61,"line":156},[59,437,438],{"class":93},"    // int32_t int32_buffer[] = {305419896};\n",[59,440,441,444,446],{"class":61,"line":161},[59,442,443],{"class":276},"    fp32 fp32_buffer[] ",[59,445,308],{"class":307},[59,447,448],{"class":276}," {(fp32)cmd_msg.linear.x,(fp32)cmd_msg.linear.y,(fp32)cmd_msg.linear.z,\n",[59,450,451],{"class":61,"line":169},[59,452,453],{"class":276},"                          (fp32)cmd_msg.angular.x,(fp32)cmd_msg.angular.y,(fp32)cmd_msg.angular.z};\n",[59,455,456],{"class":61,"line":179},[59,457,87],{"emptyLinePlaceholder":86},[59,459,460],{"class":61,"line":189},[59,461,462],{"class":93},"    //由于ROS2中node为局部变量，所以只能在node中调用send函数，所以Serial_Transmit只负责处理data_buffer。\n",[59,464,466,469,472,474,477,480],{"class":61,"line":465},15,[59,467,468],{"class":276},"    serial_pack_.tx.",[59,470,471],{"class":65},"Data_Pack",[59,473,330],{"class":276},[59,475,476],{"class":307},"0x",[59,478,479],{"class":311},"01",[59,481,482],{"class":276},", \n",[59,484,486,489,492,495],{"class":61,"line":485},16,[59,487,488],{"class":311},"                                 nullptr",[59,490,491],{"class":276},", ",[59,493,494],{"class":311},"0",[59,496,497],{"class":276},",\n",[59,499,501,503,505,507],{"class":61,"line":500},17,[59,502,488],{"class":311},[59,504,491],{"class":276},[59,506,494],{"class":311},[59,508,497],{"class":276},[59,510,512,514,516,518],{"class":61,"line":511},18,[59,513,488],{"class":311},[59,515,491],{"class":276},[59,517,494],{"class":311},[59,519,497],{"class":276},[59,521,523,525,527,529],{"class":61,"line":522},19,[59,524,488],{"class":311},[59,526,491],{"class":276},[59,528,494],{"class":311},[59,530,497],{"class":276},[59,532,534,537,540,543,546,549],{"class":61,"line":533},20,[59,535,536],{"class":276},"                                 fp32_buffer, ",[59,538,539],{"class":307},"sizeof",[59,541,542],{"class":276},"(fp32_buffer) ",[59,544,545],{"class":307},"/",[59,547,548],{"class":307}," sizeof",[59,550,551],{"class":276},"(fp32));\n",[59,553,555],{"class":61,"line":554},21,[59,556,87],{"emptyLinePlaceholder":86},[59,558,560,563,566,568,571,574],{"class":61,"line":559},22,[59,561,562],{"class":307},"    auto",[59,564,565],{"class":276}," port ",[59,567,308],{"class":307},[59,569,570],{"class":276}," serial_driver_->",[59,572,573],{"class":65},"port",[59,575,576],{"class":276},"();\n",[59,578,580],{"class":61,"line":579},23,[59,581,87],{"emptyLinePlaceholder":86},[59,583,585],{"class":61,"line":584},24,[59,586,587],{"class":307},"    try\n",[59,589,591],{"class":61,"line":590},25,[59,592,593],{"class":276},"    {\n",[59,595,597,600,603,605,608,611],{"class":61,"line":596},26,[59,598,599],{"class":307},"      size_t",[59,601,602],{"class":276}," bytes_size ",[59,604,308],{"class":307},[59,606,607],{"class":276}," port->",[59,609,610],{"class":65},"send",[59,612,613],{"class":276},"(data_buffer);\n",[59,615,617],{"class":61,"line":616},27,[59,618,619],{"class":93},"      // RCLCPP_INFO(this->get_logger(), \"Transmitted: \");\n",[59,621,623],{"class":61,"line":622},28,[59,624,625],{"class":93},"      // for (size_t i = 0; i \u003C data_buffer.size(); ++i) \n",[59,627,629],{"class":61,"line":628},29,[59,630,631],{"class":93},"      // {\n",[59,633,635,638],{"class":61,"line":634},30,[59,636,637],{"class":93},"        // RCLCPP_INFO(this->get_logger(), \"0x%02X \", data_buffer[i]);",[59,639,640],{"class":93},"  //以十六进制格式打印每个字节\n",[59,642,644],{"class":61,"line":643},31,[59,645,646],{"class":93},"      // }\n",[59,648,650,653,655,657,660,663,666,669,672,674,676,678,680,683,686,688,691,694,696,699],{"class":61,"line":649},32,[59,651,652],{"class":65},"      RCLCPP_INFO",[59,654,330],{"class":276},[59,656,363],{"class":311},[59,658,659],{"class":276},"->",[59,661,662],{"class":65},"get_logger",[59,664,665],{"class":276},"(), ",[59,667,668],{"class":69},"\"平动XYZ：",[59,670,671],{"class":311},"%.6f",[59,673,336],{"class":69},[59,675,671],{"class":311},[59,677,336],{"class":69},[59,679,671],{"class":311},[59,681,682],{"class":69},"\"",[59,684,685],{"class":276},", fp32_buffer[",[59,687,494],{"class":311},[59,689,690],{"class":276},"],fp32_buffer[",[59,692,693],{"class":311},"1",[59,695,690],{"class":276},[59,697,698],{"class":311},"2",[59,700,701],{"class":276},"]);\n",[59,703,705,707,709,711,713,715,717,720,722,724,726,728,730,732,734,737,739,742,744,747],{"class":61,"line":704},33,[59,706,652],{"class":65},[59,708,330],{"class":276},[59,710,363],{"class":311},[59,712,659],{"class":276},[59,714,662],{"class":65},[59,716,665],{"class":276},[59,718,719],{"class":69},"\"转动XYZ：",[59,721,671],{"class":311},[59,723,336],{"class":69},[59,725,671],{"class":311},[59,727,336],{"class":69},[59,729,671],{"class":311},[59,731,682],{"class":69},[59,733,685],{"class":276},[59,735,736],{"class":311},"3",[59,738,690],{"class":276},[59,740,741],{"class":311},"4",[59,743,690],{"class":276},[59,745,746],{"class":311},"5",[59,748,701],{"class":276},[59,750,752,754,756,758,760,762,764,767,770,773],{"class":61,"line":751},34,[59,753,652],{"class":65},[59,755,330],{"class":276},[59,757,363],{"class":311},[59,759,659],{"class":276},[59,761,662],{"class":65},[59,763,665],{"class":276},[59,765,766],{"class":69},"\"(",[59,768,769],{"class":311},"%ld",[59,771,772],{"class":69}," bytes)\"",[59,774,775],{"class":276},", bytes_size);\n",[59,777,779],{"class":61,"line":778},35,[59,780,781],{"class":93},"      // (void)bytes_size;\n",[59,783,785],{"class":61,"line":784},36,[59,786,787],{"class":276},"    }\n",[59,789,791,794,796,798,801,804,806],{"class":61,"line":790},37,[59,792,793],{"class":307},"    catch",[59,795,330],{"class":276},[59,797,392],{"class":307},[59,799,800],{"class":65}," std",[59,802,803],{"class":276},"::exception ",[59,805,354],{"class":307},[59,807,808],{"class":276},"ex)\n",[59,810,812],{"class":61,"line":811},38,[59,813,593],{"class":276},[59,815,817,820,822,824,826,828,830,833,836,838,841,844],{"class":61,"line":816},39,[59,818,819],{"class":65},"      RCLCPP_ERROR",[59,821,330],{"class":276},[59,823,363],{"class":311},[59,825,659],{"class":276},[59,827,662],{"class":65},[59,829,665],{"class":276},[59,831,832],{"class":69},"\"Error Transmiting from serial port:",[59,834,835],{"class":311},"%s",[59,837,682],{"class":69},[59,839,840],{"class":276},",ex.",[59,842,843],{"class":65},"what",[59,845,846],{"class":276},"());\n",[59,848,850],{"class":61,"line":849},40,[59,851,787],{"class":276},[59,853,855],{"class":61,"line":854},41,[59,856,857],{"class":276},"  }\n",[59,859,861],{"class":61,"line":860},42,[59,862,863],{"class":276},"};\n",[14,865,866],{},"STM32部分代码：",[50,868,870],{"className":259,"code":869,"language":261,"meta":55,"style":55},"    case CHASSIS_ROS2_CMD: //ROS2接管模式\n        //单位就是m/s和rad/s\n        this->oriChassis.Speed.vx =   cmd_vel_.Linear.Y;\n        this->oriChassis.Speed.vy =   cmd_vel_.Linear.X;\n        this->oriChassis.Speed.vw = - cmd_vel_.Angular.Z;\n        break;\n",[18,871,872,883,888,901,913,928],{"__ignoreMap":55},[59,873,874,877,880],{"class":61,"line":62},[59,875,876],{"class":307},"    case",[59,878,879],{"class":276}," CHASSIS_ROS2_CMD:",[59,881,882],{"class":93}," //ROS2接管模式\n",[59,884,885],{"class":61,"line":90},[59,886,887],{"class":93},"        //单位就是m/s和rad/s\n",[59,889,890,893,896,898],{"class":61,"line":97},[59,891,892],{"class":311},"        this",[59,894,895],{"class":276},"->oriChassis.Speed.vx ",[59,897,308],{"class":307},[59,899,900],{"class":276},"   cmd_vel_.Linear.Y;\n",[59,902,903,905,908,910],{"class":61,"line":102},[59,904,892],{"class":311},[59,906,907],{"class":276},"->oriChassis.Speed.vy ",[59,909,308],{"class":307},[59,911,912],{"class":276},"   cmd_vel_.Linear.X;\n",[59,914,915,917,920,922,925],{"class":61,"line":108},[59,916,892],{"class":311},[59,918,919],{"class":276},"->oriChassis.Speed.vw ",[59,921,308],{"class":307},[59,923,924],{"class":307}," -",[59,926,927],{"class":276}," cmd_vel_.Angular.Z;\n",[59,929,930,933],{"class":61,"line":113},[59,931,932],{"class":307},"        break",[59,934,935],{"class":276},";\n",[14,937,938],{},"由于我的STM32以Y为底盘前后方向，ROS2以X为底盘前后方向，所以我这里并不是完全对应的。",[10,940,941],{"id":941},"官方节点",[50,943,945],{"className":52,"code":944,"language":54,"meta":55,"style":55},"ros2 run teleop_twist_keyboard teleop_twist_keyboard\n",[18,946,947],{"__ignoreMap":55},[59,948,949,951,954,957],{"class":61,"line":62},[59,950,66],{"class":65},[59,952,953],{"class":69}," run",[59,955,956],{"class":69}," teleop_twist_keyboard",[59,958,959],{"class":69}," teleop_twist_keyboard\n",[198,961,962,972,983,993,1002,1008,1019,1029,1040,1053,1070,1085],{},[26,963,964,967,968,971],{},[18,965,966],{},"i",": 向前移动（增加线速度 ",[18,969,970],{},"linear.x","）",[26,973,974,976,977,980,981,971],{},[18,975,336],{}," ",[29,978,979],{},"(逗号)"," : 向后移动（减少线速度 ",[18,982,970],{},[26,984,985,988,989,992],{},[18,986,987],{},"j",": 左转（增加角速度 ",[18,990,991],{},"angular.z","，逆时针）",[26,994,995,998,999,1001],{},[18,996,997],{},"l",": 右转（减少角速度 ",[18,1000,991],{},"，顺时针）",[26,1003,1004,1007],{},[18,1005,1006],{},"k",": 紧急停止（将线速度和角速度归零）",[26,1009,1010,1013,1014,1016,1017,971],{},[18,1011,1012],{},"u",": 向前左转（组合运动：",[18,1015,970],{}," + ",[18,1018,991],{},[26,1020,1021,1024,1025,1016,1027,971],{},[18,1022,1023],{},"o",": 向前右转（组合运动：",[18,1026,970],{},[18,1028,991],{},[26,1030,1031,1034,1035,1016,1038,971],{},[18,1032,1033],{},"m",": 向后左转（组合运动：",[18,1036,1037],{},"-linear.x",[18,1039,991],{},[26,1041,1042,976,1045,1048,1049,1016,1051,971],{},[18,1043,1044],{},".",[29,1046,1047],{},"(句号)"," : 向后右转（组合运动：",[18,1050,1037],{},[18,1052,991],{},[26,1054,1055,1058,1060,1062,1063,1066,1067,1069],{},[18,1056,1057],{},"w",[29,1059,545],{},[18,1061,212],{},": 增加/减少 ",[29,1064,1065],{},"线速度"," （",[18,1068,970],{}," 的增量步长）",[26,1071,1072,1075,1077,1062,1080,1066,1083,1069],{},[18,1073,1074],{},"a",[29,1076,545],{},[18,1078,1079],{},"d",[29,1081,1082],{},"角速度",[18,1084,991],{},[26,1086,1087,1090,1092,1007],{},[18,1088,1089],{},"s",[29,1091,545],{},[18,1093,1094],{},"S",[14,1096,1097],{},"建议可以使用官方的节点。记得跑之前，先将步长降低。",[10,1099,1100],{"id":1100},"自定义节点",[1102,1103,1104],"h4",{"id":1104},"功能包创建",[50,1106,1108],{"className":52,"code":1107,"language":54,"meta":55,"style":55},"ros2 pkg create cyber_teleop_twist_keyboard --build-type ament_cmake --dependencies rclcpp geometry_msgs --node-name teleop_twist_keyboard\n",[18,1109,1110],{"__ignoreMap":55},[59,1111,1112,1114,1117,1120,1123,1126,1129,1132,1135,1137,1140],{"class":61,"line":62},[59,1113,66],{"class":65},[59,1115,1116],{"class":69}," pkg",[59,1118,1119],{"class":69}," create",[59,1121,1122],{"class":69}," cyber_teleop_twist_keyboard",[59,1124,1125],{"class":311}," --build-type",[59,1127,1128],{"class":69}," ament_cmake",[59,1130,1131],{"class":311}," --dependencies",[59,1133,1134],{"class":69}," rclcpp",[59,1136,395],{"class":69},[59,1138,1139],{"class":311}," --node-name",[59,1141,959],{"class":69},[1102,1143,1144],{"id":1144},"节点主逻辑",[14,1146,1147,1150],{},[18,1148,1149],{},"w/s/a/d","：控制机器人前进/后退/左平移/右平移。",[14,1152,1153,1156],{},[18,1154,1155],{},"q/e","：控制机器人逆时针/顺时针旋转。",[14,1158,1159,1162],{},[18,1160,1161],{},"i/,","：调整线速度步长（加速/减速步长）。",[14,1164,1165,1168],{},[18,1166,1167],{},"j/l","：调整角速度步长（减速/加速步长）。",[14,1170,1171,1173],{},[18,1172,1006],{},"：停止所有运动。",[14,1175,1176],{},"下方是一个核心函数，用于检测按键。",[50,1178,1180],{"className":259,"code":1179,"language":261,"meta":55,"style":55},"#include \u003Ctermios.h>\n#include \u003Cunistd.h>\n#include \u003Cfcntl.h>\n\n    //查键盘输入的函数，它不需要按回车就能返回键盘输入。它通过修改终端设置，使得可以直接获取按键的值。\n    int kbhit(void)\n    {\n      struct termios oldt, newt;\n      int ch;\n      int oldf;\n\n      tcgetattr(STDIN_FILENO, &oldt);        // 获取当前终端的设置\n      newt = oldt;\n      newt.c_lflag &= ~(ICANON | ECHO);       // 禁用缓冲模式和回显\n      newt.c_cc[VMIN] = 1;\n      newt.c_cc[VTIME] = 0;\n      tcsetattr(STDIN_FILENO, TCSANOW, &newt); // 设置新的终端设置\n\n      oldf = fcntl(STDIN_FILENO, F_GETFL, 0);\n      fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK); // 设置为非阻塞模式\n\n      ch = getchar(); // 获取字符\n      tcsetattr(STDIN_FILENO, TCSANOW, &oldt);   // 恢复终端设置\n      fcntl(STDIN_FILENO, F_SETFL, oldf);         // 恢复文件描述符设置\n\n      if(ch != EOF) { \n          ungetc(ch, stdin);  // 将字符放回标准输入流\n          return 1;           // 如果读取了字符，返回 1\n      }\n\n      return 0;   // 没有读取到字符\n    }\n",[18,1181,1182,1190,1197,1204,1208,1213,1228,1232,1243,1251,1258,1262,1278,1288,1311,1323,1335,1351,1355,1373,1389,1393,1409,1422,1432,1436,1450,1461,1474,1479,1483,1495],{"__ignoreMap":55},[59,1183,1184,1187],{"class":61,"line":62},[59,1185,1186],{"class":307},"#include",[59,1188,1189],{"class":69}," \u003Ctermios.h>\n",[59,1191,1192,1194],{"class":61,"line":90},[59,1193,1186],{"class":307},[59,1195,1196],{"class":69}," \u003Cunistd.h>\n",[59,1198,1199,1201],{"class":61,"line":97},[59,1200,1186],{"class":307},[59,1202,1203],{"class":69}," \u003Cfcntl.h>\n",[59,1205,1206],{"class":61,"line":102},[59,1207,87],{"emptyLinePlaceholder":86},[59,1209,1210],{"class":61,"line":108},[59,1211,1212],{"class":93},"    //查键盘输入的函数，它不需要按回车就能返回键盘输入。它通过修改终端设置，使得可以直接获取按键的值。\n",[59,1214,1215,1218,1221,1223,1226],{"class":61,"line":113},[59,1216,1217],{"class":307},"    int",[59,1219,1220],{"class":65}," kbhit",[59,1222,330],{"class":276},[59,1224,1225],{"class":307},"void",[59,1227,413],{"class":276},[59,1229,1230],{"class":61,"line":122},[59,1231,593],{"class":276},[59,1233,1234,1237,1240],{"class":61,"line":134},[59,1235,1236],{"class":307},"      struct",[59,1238,1239],{"class":65}," termios",[59,1241,1242],{"class":276}," oldt, newt;\n",[59,1244,1245,1248],{"class":61,"line":145},[59,1246,1247],{"class":307},"      int",[59,1249,1250],{"class":276}," ch;\n",[59,1252,1253,1255],{"class":61,"line":156},[59,1254,1247],{"class":307},[59,1256,1257],{"class":276}," oldf;\n",[59,1259,1260],{"class":61,"line":161},[59,1261,87],{"emptyLinePlaceholder":86},[59,1263,1264,1267,1270,1272,1275],{"class":61,"line":169},[59,1265,1266],{"class":65},"      tcgetattr",[59,1268,1269],{"class":276},"(STDIN_FILENO, ",[59,1271,354],{"class":307},[59,1273,1274],{"class":276},"oldt);",[59,1276,1277],{"class":93},"        // 获取当前终端的设置\n",[59,1279,1280,1283,1285],{"class":61,"line":179},[59,1281,1282],{"class":276},"      newt ",[59,1284,308],{"class":307},[59,1286,1287],{"class":276}," oldt;\n",[59,1289,1290,1293,1296,1299,1302,1305,1308],{"class":61,"line":189},[59,1291,1292],{"class":276},"      newt.c_lflag ",[59,1294,1295],{"class":307},"&=",[59,1297,1298],{"class":307}," ~",[59,1300,1301],{"class":276},"(ICANON ",[59,1303,1304],{"class":307},"|",[59,1306,1307],{"class":276}," ECHO);",[59,1309,1310],{"class":93},"       // 禁用缓冲模式和回显\n",[59,1312,1313,1316,1318,1321],{"class":61,"line":465},[59,1314,1315],{"class":276},"      newt.c_cc[VMIN] ",[59,1317,308],{"class":307},[59,1319,1320],{"class":311}," 1",[59,1322,935],{"class":276},[59,1324,1325,1328,1330,1333],{"class":61,"line":485},[59,1326,1327],{"class":276},"      newt.c_cc[VTIME] ",[59,1329,308],{"class":307},[59,1331,1332],{"class":311}," 0",[59,1334,935],{"class":276},[59,1336,1337,1340,1343,1345,1348],{"class":61,"line":500},[59,1338,1339],{"class":65},"      tcsetattr",[59,1341,1342],{"class":276},"(STDIN_FILENO, TCSANOW, ",[59,1344,354],{"class":307},[59,1346,1347],{"class":276},"newt);",[59,1349,1350],{"class":93}," // 设置新的终端设置\n",[59,1352,1353],{"class":61,"line":511},[59,1354,87],{"emptyLinePlaceholder":86},[59,1356,1357,1360,1362,1365,1368,1370],{"class":61,"line":522},[59,1358,1359],{"class":276},"      oldf ",[59,1361,308],{"class":307},[59,1363,1364],{"class":65}," fcntl",[59,1366,1367],{"class":276},"(STDIN_FILENO, F_GETFL, ",[59,1369,494],{"class":311},[59,1371,1372],{"class":276},");\n",[59,1374,1375,1378,1381,1383,1386],{"class":61,"line":533},[59,1376,1377],{"class":65},"      fcntl",[59,1379,1380],{"class":276},"(STDIN_FILENO, F_SETFL, oldf ",[59,1382,1304],{"class":307},[59,1384,1385],{"class":276}," O_NONBLOCK);",[59,1387,1388],{"class":93}," // 设置为非阻塞模式\n",[59,1390,1391],{"class":61,"line":554},[59,1392,87],{"emptyLinePlaceholder":86},[59,1394,1395,1398,1400,1403,1406],{"class":61,"line":559},[59,1396,1397],{"class":276},"      ch ",[59,1399,308],{"class":307},[59,1401,1402],{"class":65}," getchar",[59,1404,1405],{"class":276},"();",[59,1407,1408],{"class":93}," // 获取字符\n",[59,1410,1411,1413,1415,1417,1419],{"class":61,"line":579},[59,1412,1339],{"class":65},[59,1414,1342],{"class":276},[59,1416,354],{"class":307},[59,1418,1274],{"class":276},[59,1420,1421],{"class":93},"   // 恢复终端设置\n",[59,1423,1424,1426,1429],{"class":61,"line":584},[59,1425,1377],{"class":65},[59,1427,1428],{"class":276},"(STDIN_FILENO, F_SETFL, oldf);",[59,1430,1431],{"class":93},"         // 恢复文件描述符设置\n",[59,1433,1434],{"class":61,"line":590},[59,1435,87],{"emptyLinePlaceholder":86},[59,1437,1438,1441,1444,1447],{"class":61,"line":596},[59,1439,1440],{"class":307},"      if",[59,1442,1443],{"class":276},"(ch ",[59,1445,1446],{"class":307},"!=",[59,1448,1449],{"class":276}," EOF) { \n",[59,1451,1452,1455,1458],{"class":61,"line":616},[59,1453,1454],{"class":65},"          ungetc",[59,1456,1457],{"class":276},"(ch, stdin);",[59,1459,1460],{"class":93},"  // 将字符放回标准输入流\n",[59,1462,1463,1466,1468,1471],{"class":61,"line":622},[59,1464,1465],{"class":307},"          return",[59,1467,1320],{"class":311},[59,1469,1470],{"class":276},";",[59,1472,1473],{"class":93},"           // 如果读取了字符，返回 1\n",[59,1475,1476],{"class":61,"line":628},[59,1477,1478],{"class":276},"      }\n",[59,1480,1481],{"class":61,"line":634},[59,1482,87],{"emptyLinePlaceholder":86},[59,1484,1485,1488,1490,1492],{"class":61,"line":643},[59,1486,1487],{"class":307},"      return",[59,1489,1332],{"class":311},[59,1491,1470],{"class":276},[59,1493,1494],{"class":93},"   // 没有读取到字符\n",[59,1496,1497],{"class":61,"line":649},[59,1498,787],{"class":276},[14,1500,1501],{},"以下代码未经验证，谨慎使用，本人直接采用了官方的节点，并未使用自定义节点。",[50,1503,1505],{"className":259,"code":1504,"language":261,"meta":55,"style":55},"#include \"rclcpp/rclcpp.hpp\"\n#include \"geometry_msgs/msg/twist.hpp\"\n#include \u003Cgeometry_msgs/msg/detail/twist__struct.hpp>\n#include \u003Ctermios.h>\n#include \u003Cunistd.h>\n#include \u003Cfcntl.h>\n#include \"cyber_teleop_twist_keyboard/struct_typedef.h\"\n\nclass TeleopTwistKeyboardNode: public rclcpp::Node\n{\n  public:\n    TeleopTwistKeyboardNode():Node(\"CyberTeleopTwistKeyboardNode_cpp\")\n    {\n      RCLCPP_INFO(this->get_logger(),\"TeleopTwistKeyboardNode Running!\");\n      RCLCPP_INFO(this->get_logger(),\"键盘控制机器人节点已启动！\");\n      // 创建一个发布者，类型是 geometry_msgs/msg/Twist，发布到 \"cmd_vel\" 话题\n      keyboard_control_pub_ = this->create_publisher\u003Cgeometry_msgs::msg::Twist>(\"cmd_vel\", 10);\n\n      // 定时器，周期性调用发布函数\n      keyboard_control_pub_timer_ = this->create_wall_timer(\n          std::chrono::milliseconds(100), \n          std::bind(&TeleopTwistKeyboardNode::cmd_vel_publish_timer_callback, this)\n        );\n\n    }\n\n  private:\n    rclcpp::Publisher\u003Cgeometry_msgs::msg::Twist>::SharedPtr keyboard_control_pub_;\n    rclcpp::TimerBase::SharedPtr keyboard_control_pub_timer_;\n\n    // 步长\n    fp64 linear_step_ = 0.1;\n    fp64 angular_step_ = 0.1;\n\n    // 当前线速度和角速度\n    fp64 linear_speed_ = 0.0;\n    fp64 angular_speed_ = 0.0;\n\n    // 最大速度限制\n    fp64 max_linear_speed_ = 0.5;\n    fp64 max_angular_speed_ = 0.2;\n\n    // 最小速度限制\n    fp64 min_linear_speed_ = 0.0;\n    fp64 min_angular_speed_ = 0.0;\n\n    geometry_msgs::msg::Twist cmd_msg;\n\n    //查键盘输入的函数，它不需要按回车就能返回键盘输入。它通过修改终端设置，使得可以直接获取按键的值。\n    int kbhit(void)\n    {\n      struct termios oldt, newt;\n      int ch;\n      int oldf;\n\n      tcgetattr(STDIN_FILENO, &oldt);        // 获取当前终端的设置\n      newt = oldt;\n      newt.c_lflag &= ~(ICANON | ECHO);       // 禁用缓冲模式和回显\n      newt.c_cc[VMIN] = 1;\n      newt.c_cc[VTIME] = 0;\n      tcsetattr(STDIN_FILENO, TCSANOW, &newt); // 设置新的终端设置\n\n      oldf = fcntl(STDIN_FILENO, F_GETFL, 0);\n      fcntl(STDIN_FILENO, F_SETFL, oldf | O_NONBLOCK); // 设置为非阻塞模式\n\n      ch = getchar(); // 获取字符\n      tcsetattr(STDIN_FILENO, TCSANOW, &oldt);   // 恢复终端设置\n      fcntl(STDIN_FILENO, F_SETFL, oldf);         // 恢复文件描述符设置\n\n      if(ch != EOF) { \n          ungetc(ch, stdin);  // 将字符放回标准输入流\n          return 1;           // 如果读取了字符，返回 1\n      }\n\n      return 0;   // 没有读取到字符\n    }\n\n  void cmd_vel_publish_timer_callback()\n  {\n\n    cmd_msg.linear.y = 0.0;\n    cmd_msg.linear.x = 0.0;\n    cmd_msg.angular.z = 0.0;\n\n    // 当有键盘输入时，处理它\n    if (kbhit()) \n    {\n      char key = getchar();  // 获取键盘输入的字符\n\n      if(key == EOF)\n      {\n        return;\n      }\n      RCLCPP_INFO(this->get_logger(),\"按下了:%c\",key);\n      // 根据按键决定机器人运动方向\n      switch(key)\n      {\n        case 'w': // 前进\n          cmd_msg.linear.y = linear_speed_;\n          cmd_msg.linear.x = 0.0;\n          cmd_msg.angular.z = 0.0;\n          break;\n        case 's': // 后退\n          cmd_msg.linear.y = - linear_speed_;\n          cmd_msg.linear.x = 0.0;\n          cmd_msg.angular.z = 0.0;\n          break;\n        case 'a': // 左平移\n          cmd_msg.linear.y = 0.0;\n          cmd_msg.linear.x = - linear_speed_;\n          cmd_msg.angular.z = 0.0;\n          break;\n        case 'd': // 右平移\n          cmd_msg.linear.y = 0.0;\n          cmd_msg.linear.x = linear_speed_;\n          cmd_msg.angular.z = 0.0;\n          break;\n        case 'q': // 逆时针旋转\n          cmd_msg.linear.y = 0.0;\n          cmd_msg.linear.x = 0.0;\n          cmd_msg.angular.z = - angular_speed_;\n          break;\n        case 'e': // 顺时针旋转\n          cmd_msg.angular.z = angular_speed_;\n          break;\n        case 'i': // 增加线速度\n          linear_speed_ = std::clamp(linear_speed_ + linear_step_, min_linear_speed_, max_linear_speed_);\n          RCLCPP_INFO(this->get_logger(), \"Linear increased to: %.2f\", linear_speed_);\n          break;\n        case ',': // 减小线速度\n          linear_speed_ = std::clamp(linear_speed_ - linear_step_, min_linear_speed_, max_linear_speed_);\n          RCLCPP_INFO(this->get_logger(), \"Linear decreased to: %.2f\", linear_speed_);\n          break;\n        case 'l': // 增加角速度\n          angular_speed_ = std::clamp(angular_speed_ + angular_step_, min_angular_speed_, max_angular_speed_);\n          RCLCPP_INFO(this->get_logger(), \"Angular increased to: %.2f\", angular_speed_);\n          break;\n        case 'j': // 减小角速度\n          angular_speed_ = std::clamp(angular_speed_ - angular_step_, min_angular_speed_, max_angular_speed_);\n          RCLCPP_INFO(this->get_logger(), \"Angular decreased to: %.2f\", angular_speed_);\n          break;\n        case 'k': // 停止\n          cmd_msg.linear.y = 0.0;\n          cmd_msg.linear.x = 0.0;\n          cmd_msg.angular.z = 0.0;\n          break;\n        default:\n          RCLCPP_WARN(this->get_logger(), \"Unknown key pressed!\");\n      }\n    }\n    keyboard_control_pub_->publish(cmd_msg);\n  }\n\n};\n\nint main(int argc, char ** argv)\n{\n  rclcpp::init(argc,argv);\n\n  auto node = std::make_shared\u003CTeleopTwistKeyboardNode>();\n\n  rclcpp::spin(node);\n\n  rclcpp::shutdown();\n  return 0;\n}\n",[18,1506,1507,1514,1521,1528,1534,1540,1546,1553,1557,1578,1583,1588,1606,1610,1630,1649,1654,1690,1694,1699,1716,1739,1761,1766,1770,1774,1778,1783,1808,1820,1824,1829,1841,1852,1856,1861,1873,1884,1888,1893,1905,1917,1921,1927,1939,1951,1956,1969,1974,1979,1992,1997,2006,2013,2020,2025,2038,2047,2064,2075,2086,2099,2104,2119,2132,2137,2150,2163,2172,2177,2188,2197,2208,2213,2218,2229,2234,2239,2250,2255,2260,2272,2284,2296,2301,2307,2322,2327,2345,2350,2364,2370,2378,2383,2409,2415,2424,2429,2444,2455,2467,2479,2487,2500,2511,2522,2533,2540,2553,2564,2575,2586,2593,2606,2617,2626,2637,2644,2657,2668,2679,2691,2698,2711,2720,2727,2740,2764,2791,2798,2811,2831,2855,2862,2875,2897,2922,2929,2942,2961,2985,2992,3005,3016,3027,3038,3045,3054,3075,3080,3085,3097,3102,3107,3112,3117,3146,3151,3165,3170,3195,3200,3213,3218,3230,3240],{"__ignoreMap":55},[59,1508,1509,1511],{"class":61,"line":62},[59,1510,1186],{"class":307},[59,1512,1513],{"class":69}," \"rclcpp/rclcpp.hpp\"\n",[59,1515,1516,1518],{"class":61,"line":90},[59,1517,1186],{"class":307},[59,1519,1520],{"class":69}," \"geometry_msgs/msg/twist.hpp\"\n",[59,1522,1523,1525],{"class":61,"line":97},[59,1524,1186],{"class":307},[59,1526,1527],{"class":69}," \u003Cgeometry_msgs/msg/detail/twist__struct.hpp>\n",[59,1529,1530,1532],{"class":61,"line":102},[59,1531,1186],{"class":307},[59,1533,1189],{"class":69},[59,1535,1536,1538],{"class":61,"line":108},[59,1537,1186],{"class":307},[59,1539,1196],{"class":69},[59,1541,1542,1544],{"class":61,"line":113},[59,1543,1186],{"class":307},[59,1545,1203],{"class":69},[59,1547,1548,1550],{"class":61,"line":122},[59,1549,1186],{"class":307},[59,1551,1552],{"class":69}," \"cyber_teleop_twist_keyboard/struct_typedef.h\"\n",[59,1554,1555],{"class":61,"line":134},[59,1556,87],{"emptyLinePlaceholder":86},[59,1558,1559,1562,1565,1568,1571,1573,1575],{"class":61,"line":145},[59,1560,1561],{"class":307},"class",[59,1563,1564],{"class":65}," TeleopTwistKeyboardNode",[59,1566,1567],{"class":276},": ",[59,1569,1570],{"class":307},"public",[59,1572,1134],{"class":65},[59,1574,277],{"class":276},[59,1576,1577],{"class":65},"Node\n",[59,1579,1580],{"class":61,"line":156},[59,1581,1582],{"class":276},"{\n",[59,1584,1585],{"class":61,"line":161},[59,1586,1587],{"class":307},"  public:\n",[59,1589,1590,1593,1596,1599,1601,1604],{"class":61,"line":169},[59,1591,1592],{"class":65},"    TeleopTwistKeyboardNode",[59,1594,1595],{"class":276},"():",[59,1597,1598],{"class":65},"Node",[59,1600,330],{"class":276},[59,1602,1603],{"class":69},"\"CyberTeleopTwistKeyboardNode_cpp\"",[59,1605,413],{"class":276},[59,1607,1608],{"class":61,"line":179},[59,1609,593],{"class":276},[59,1611,1612,1614,1616,1618,1620,1622,1625,1628],{"class":61,"line":189},[59,1613,652],{"class":65},[59,1615,330],{"class":276},[59,1617,363],{"class":311},[59,1619,659],{"class":276},[59,1621,662],{"class":65},[59,1623,1624],{"class":276},"(),",[59,1626,1627],{"class":69},"\"TeleopTwistKeyboardNode Running!\"",[59,1629,1372],{"class":276},[59,1631,1632,1634,1636,1638,1640,1642,1644,1647],{"class":61,"line":465},[59,1633,652],{"class":65},[59,1635,330],{"class":276},[59,1637,363],{"class":311},[59,1639,659],{"class":276},[59,1641,662],{"class":65},[59,1643,1624],{"class":276},[59,1645,1646],{"class":69},"\"键盘控制机器人节点已启动！\"",[59,1648,1372],{"class":276},[59,1650,1651],{"class":61,"line":485},[59,1652,1653],{"class":93},"      // 创建一个发布者，类型是 geometry_msgs/msg/Twist，发布到 \"cmd_vel\" 话题\n",[59,1655,1656,1659,1661,1663,1666,1668,1670,1672,1674,1677,1680,1682,1684,1686,1688],{"class":61,"line":500},[59,1657,1658],{"class":276},"      keyboard_control_pub_ ",[59,1660,308],{"class":307},[59,1662,312],{"class":311},[59,1664,1665],{"class":276},"->create_publisher",[59,1667,283],{"class":307},[59,1669,286],{"class":65},[59,1671,277],{"class":276},[59,1673,291],{"class":65},[59,1675,1676],{"class":276},"::Twist",[59,1678,1679],{"class":307},">",[59,1681,330],{"class":276},[59,1683,333],{"class":69},[59,1685,491],{"class":276},[59,1687,339],{"class":311},[59,1689,1372],{"class":276},[59,1691,1692],{"class":61,"line":511},[59,1693,87],{"emptyLinePlaceholder":86},[59,1695,1696],{"class":61,"line":522},[59,1697,1698],{"class":93},"      // 定时器，周期性调用发布函数\n",[59,1700,1701,1704,1706,1708,1710,1713],{"class":61,"line":533},[59,1702,1703],{"class":276},"      keyboard_control_pub_timer_ ",[59,1705,308],{"class":307},[59,1707,312],{"class":311},[59,1709,659],{"class":276},[59,1711,1712],{"class":65},"create_wall_timer",[59,1714,1715],{"class":276},"(\n",[59,1717,1718,1721,1723,1726,1728,1731,1733,1736],{"class":61,"line":554},[59,1719,1720],{"class":65},"          std",[59,1722,277],{"class":276},[59,1724,1725],{"class":65},"chrono",[59,1727,277],{"class":276},[59,1729,1730],{"class":65},"milliseconds",[59,1732,330],{"class":276},[59,1734,1735],{"class":311},"100",[59,1737,1738],{"class":276},"), \n",[59,1740,1741,1743,1745,1747,1749,1751,1754,1757,1759],{"class":61,"line":559},[59,1742,1720],{"class":65},[59,1744,277],{"class":276},[59,1746,349],{"class":65},[59,1748,330],{"class":276},[59,1750,354],{"class":307},[59,1752,1753],{"class":65},"TeleopTwistKeyboardNode",[59,1755,1756],{"class":276},"::cmd_vel_publish_timer_callback, ",[59,1758,363],{"class":311},[59,1760,413],{"class":276},[59,1762,1763],{"class":61,"line":579},[59,1764,1765],{"class":276},"        );\n",[59,1767,1768],{"class":61,"line":584},[59,1769,87],{"emptyLinePlaceholder":86},[59,1771,1772],{"class":61,"line":590},[59,1773,787],{"class":276},[59,1775,1776],{"class":61,"line":596},[59,1777,87],{"emptyLinePlaceholder":86},[59,1779,1780],{"class":61,"line":616},[59,1781,1782],{"class":307},"  private:\n",[59,1784,1785,1788,1790,1793,1795,1797,1799,1801,1803,1805],{"class":61,"line":622},[59,1786,1787],{"class":65},"    rclcpp",[59,1789,277],{"class":276},[59,1791,1792],{"class":65},"Publisher",[59,1794,283],{"class":276},[59,1796,286],{"class":65},[59,1798,277],{"class":276},[59,1800,291],{"class":65},[59,1802,277],{"class":276},[59,1804,296],{"class":65},[59,1806,1807],{"class":276},">::SharedPtr keyboard_control_pub_;\n",[59,1809,1810,1812,1814,1817],{"class":61,"line":628},[59,1811,1787],{"class":65},[59,1813,277],{"class":276},[59,1815,1816],{"class":65},"TimerBase",[59,1818,1819],{"class":276},"::SharedPtr keyboard_control_pub_timer_;\n",[59,1821,1822],{"class":61,"line":634},[59,1823,87],{"emptyLinePlaceholder":86},[59,1825,1826],{"class":61,"line":643},[59,1827,1828],{"class":93},"    // 步长\n",[59,1830,1831,1834,1836,1839],{"class":61,"line":649},[59,1832,1833],{"class":276},"    fp64 linear_step_ ",[59,1835,308],{"class":307},[59,1837,1838],{"class":311}," 0.1",[59,1840,935],{"class":276},[59,1842,1843,1846,1848,1850],{"class":61,"line":704},[59,1844,1845],{"class":276},"    fp64 angular_step_ ",[59,1847,308],{"class":307},[59,1849,1838],{"class":311},[59,1851,935],{"class":276},[59,1853,1854],{"class":61,"line":751},[59,1855,87],{"emptyLinePlaceholder":86},[59,1857,1858],{"class":61,"line":778},[59,1859,1860],{"class":93},"    // 当前线速度和角速度\n",[59,1862,1863,1866,1868,1871],{"class":61,"line":784},[59,1864,1865],{"class":276},"    fp64 linear_speed_ ",[59,1867,308],{"class":307},[59,1869,1870],{"class":311}," 0.0",[59,1872,935],{"class":276},[59,1874,1875,1878,1880,1882],{"class":61,"line":790},[59,1876,1877],{"class":276},"    fp64 angular_speed_ ",[59,1879,308],{"class":307},[59,1881,1870],{"class":311},[59,1883,935],{"class":276},[59,1885,1886],{"class":61,"line":811},[59,1887,87],{"emptyLinePlaceholder":86},[59,1889,1890],{"class":61,"line":816},[59,1891,1892],{"class":93},"    // 最大速度限制\n",[59,1894,1895,1898,1900,1903],{"class":61,"line":849},[59,1896,1897],{"class":276},"    fp64 max_linear_speed_ ",[59,1899,308],{"class":307},[59,1901,1902],{"class":311}," 0.5",[59,1904,935],{"class":276},[59,1906,1907,1910,1912,1915],{"class":61,"line":854},[59,1908,1909],{"class":276},"    fp64 max_angular_speed_ ",[59,1911,308],{"class":307},[59,1913,1914],{"class":311}," 0.2",[59,1916,935],{"class":276},[59,1918,1919],{"class":61,"line":860},[59,1920,87],{"emptyLinePlaceholder":86},[59,1922,1924],{"class":61,"line":1923},43,[59,1925,1926],{"class":93},"    // 最小速度限制\n",[59,1928,1930,1933,1935,1937],{"class":61,"line":1929},44,[59,1931,1932],{"class":276},"    fp64 min_linear_speed_ ",[59,1934,308],{"class":307},[59,1936,1870],{"class":311},[59,1938,935],{"class":276},[59,1940,1942,1945,1947,1949],{"class":61,"line":1941},45,[59,1943,1944],{"class":276},"    fp64 min_angular_speed_ ",[59,1946,308],{"class":307},[59,1948,1870],{"class":311},[59,1950,935],{"class":276},[59,1952,1954],{"class":61,"line":1953},46,[59,1955,87],{"emptyLinePlaceholder":86},[59,1957,1959,1962,1964,1966],{"class":61,"line":1958},47,[59,1960,1961],{"class":65},"    geometry_msgs",[59,1963,277],{"class":276},[59,1965,291],{"class":65},[59,1967,1968],{"class":276},"::Twist cmd_msg;\n",[59,1970,1972],{"class":61,"line":1971},48,[59,1973,87],{"emptyLinePlaceholder":86},[59,1975,1977],{"class":61,"line":1976},49,[59,1978,1212],{"class":93},[59,1980,1982,1984,1986,1988,1990],{"class":61,"line":1981},50,[59,1983,1217],{"class":307},[59,1985,1220],{"class":65},[59,1987,330],{"class":276},[59,1989,1225],{"class":307},[59,1991,413],{"class":276},[59,1993,1995],{"class":61,"line":1994},51,[59,1996,593],{"class":276},[59,1998,2000,2002,2004],{"class":61,"line":1999},52,[59,2001,1236],{"class":307},[59,2003,1239],{"class":65},[59,2005,1242],{"class":276},[59,2007,2009,2011],{"class":61,"line":2008},53,[59,2010,1247],{"class":307},[59,2012,1250],{"class":276},[59,2014,2016,2018],{"class":61,"line":2015},54,[59,2017,1247],{"class":307},[59,2019,1257],{"class":276},[59,2021,2023],{"class":61,"line":2022},55,[59,2024,87],{"emptyLinePlaceholder":86},[59,2026,2028,2030,2032,2034,2036],{"class":61,"line":2027},56,[59,2029,1266],{"class":65},[59,2031,1269],{"class":276},[59,2033,354],{"class":307},[59,2035,1274],{"class":276},[59,2037,1277],{"class":93},[59,2039,2041,2043,2045],{"class":61,"line":2040},57,[59,2042,1282],{"class":276},[59,2044,308],{"class":307},[59,2046,1287],{"class":276},[59,2048,2050,2052,2054,2056,2058,2060,2062],{"class":61,"line":2049},58,[59,2051,1292],{"class":276},[59,2053,1295],{"class":307},[59,2055,1298],{"class":307},[59,2057,1301],{"class":276},[59,2059,1304],{"class":307},[59,2061,1307],{"class":276},[59,2063,1310],{"class":93},[59,2065,2067,2069,2071,2073],{"class":61,"line":2066},59,[59,2068,1315],{"class":276},[59,2070,308],{"class":307},[59,2072,1320],{"class":311},[59,2074,935],{"class":276},[59,2076,2078,2080,2082,2084],{"class":61,"line":2077},60,[59,2079,1327],{"class":276},[59,2081,308],{"class":307},[59,2083,1332],{"class":311},[59,2085,935],{"class":276},[59,2087,2089,2091,2093,2095,2097],{"class":61,"line":2088},61,[59,2090,1339],{"class":65},[59,2092,1342],{"class":276},[59,2094,354],{"class":307},[59,2096,1347],{"class":276},[59,2098,1350],{"class":93},[59,2100,2102],{"class":61,"line":2101},62,[59,2103,87],{"emptyLinePlaceholder":86},[59,2105,2107,2109,2111,2113,2115,2117],{"class":61,"line":2106},63,[59,2108,1359],{"class":276},[59,2110,308],{"class":307},[59,2112,1364],{"class":65},[59,2114,1367],{"class":276},[59,2116,494],{"class":311},[59,2118,1372],{"class":276},[59,2120,2122,2124,2126,2128,2130],{"class":61,"line":2121},64,[59,2123,1377],{"class":65},[59,2125,1380],{"class":276},[59,2127,1304],{"class":307},[59,2129,1385],{"class":276},[59,2131,1388],{"class":93},[59,2133,2135],{"class":61,"line":2134},65,[59,2136,87],{"emptyLinePlaceholder":86},[59,2138,2140,2142,2144,2146,2148],{"class":61,"line":2139},66,[59,2141,1397],{"class":276},[59,2143,308],{"class":307},[59,2145,1402],{"class":65},[59,2147,1405],{"class":276},[59,2149,1408],{"class":93},[59,2151,2153,2155,2157,2159,2161],{"class":61,"line":2152},67,[59,2154,1339],{"class":65},[59,2156,1342],{"class":276},[59,2158,354],{"class":307},[59,2160,1274],{"class":276},[59,2162,1421],{"class":93},[59,2164,2166,2168,2170],{"class":61,"line":2165},68,[59,2167,1377],{"class":65},[59,2169,1428],{"class":276},[59,2171,1431],{"class":93},[59,2173,2175],{"class":61,"line":2174},69,[59,2176,87],{"emptyLinePlaceholder":86},[59,2178,2180,2182,2184,2186],{"class":61,"line":2179},70,[59,2181,1440],{"class":307},[59,2183,1443],{"class":276},[59,2185,1446],{"class":307},[59,2187,1449],{"class":276},[59,2189,2191,2193,2195],{"class":61,"line":2190},71,[59,2192,1454],{"class":65},[59,2194,1457],{"class":276},[59,2196,1460],{"class":93},[59,2198,2200,2202,2204,2206],{"class":61,"line":2199},72,[59,2201,1465],{"class":307},[59,2203,1320],{"class":311},[59,2205,1470],{"class":276},[59,2207,1473],{"class":93},[59,2209,2211],{"class":61,"line":2210},73,[59,2212,1478],{"class":276},[59,2214,2216],{"class":61,"line":2215},74,[59,2217,87],{"emptyLinePlaceholder":86},[59,2219,2221,2223,2225,2227],{"class":61,"line":2220},75,[59,2222,1487],{"class":307},[59,2224,1332],{"class":311},[59,2226,1470],{"class":276},[59,2228,1494],{"class":93},[59,2230,2232],{"class":61,"line":2231},76,[59,2233,787],{"class":276},[59,2235,2237],{"class":61,"line":2236},77,[59,2238,87],{"emptyLinePlaceholder":86},[59,2240,2242,2244,2247],{"class":61,"line":2241},78,[59,2243,384],{"class":307},[59,2245,2246],{"class":65}," cmd_vel_publish_timer_callback",[59,2248,2249],{"class":276},"()\n",[59,2251,2253],{"class":61,"line":2252},79,[59,2254,418],{"class":276},[59,2256,2258],{"class":61,"line":2257},80,[59,2259,87],{"emptyLinePlaceholder":86},[59,2261,2263,2266,2268,2270],{"class":61,"line":2262},81,[59,2264,2265],{"class":276},"    cmd_msg.linear.y ",[59,2267,308],{"class":307},[59,2269,1870],{"class":311},[59,2271,935],{"class":276},[59,2273,2275,2278,2280,2282],{"class":61,"line":2274},82,[59,2276,2277],{"class":276},"    cmd_msg.linear.x ",[59,2279,308],{"class":307},[59,2281,1870],{"class":311},[59,2283,935],{"class":276},[59,2285,2287,2290,2292,2294],{"class":61,"line":2286},83,[59,2288,2289],{"class":276},"    cmd_msg.angular.z ",[59,2291,308],{"class":307},[59,2293,1870],{"class":311},[59,2295,935],{"class":276},[59,2297,2299],{"class":61,"line":2298},84,[59,2300,87],{"emptyLinePlaceholder":86},[59,2302,2304],{"class":61,"line":2303},85,[59,2305,2306],{"class":93},"    // 当有键盘输入时，处理它\n",[59,2308,2310,2313,2316,2319],{"class":61,"line":2309},86,[59,2311,2312],{"class":307},"    if",[59,2314,2315],{"class":276}," (",[59,2317,2318],{"class":65},"kbhit",[59,2320,2321],{"class":276},"()) \n",[59,2323,2325],{"class":61,"line":2324},87,[59,2326,593],{"class":276},[59,2328,2330,2333,2336,2338,2340,2342],{"class":61,"line":2329},88,[59,2331,2332],{"class":307},"      char",[59,2334,2335],{"class":276}," key ",[59,2337,308],{"class":307},[59,2339,1402],{"class":65},[59,2341,1405],{"class":276},[59,2343,2344],{"class":93},"  // 获取键盘输入的字符\n",[59,2346,2348],{"class":61,"line":2347},89,[59,2349,87],{"emptyLinePlaceholder":86},[59,2351,2353,2355,2358,2361],{"class":61,"line":2352},90,[59,2354,1440],{"class":307},[59,2356,2357],{"class":276},"(key ",[59,2359,2360],{"class":307},"==",[59,2362,2363],{"class":276}," EOF)\n",[59,2365,2367],{"class":61,"line":2366},91,[59,2368,2369],{"class":276},"      {\n",[59,2371,2373,2376],{"class":61,"line":2372},92,[59,2374,2375],{"class":307},"        return",[59,2377,935],{"class":276},[59,2379,2381],{"class":61,"line":2380},93,[59,2382,1478],{"class":276},[59,2384,2386,2388,2390,2392,2394,2396,2398,2401,2404,2406],{"class":61,"line":2385},94,[59,2387,652],{"class":65},[59,2389,330],{"class":276},[59,2391,363],{"class":311},[59,2393,659],{"class":276},[59,2395,662],{"class":65},[59,2397,1624],{"class":276},[59,2399,2400],{"class":69},"\"按下了:",[59,2402,2403],{"class":311},"%c",[59,2405,682],{"class":69},[59,2407,2408],{"class":276},",key);\n",[59,2410,2412],{"class":61,"line":2411},95,[59,2413,2414],{"class":93},"      // 根据按键决定机器人运动方向\n",[59,2416,2418,2421],{"class":61,"line":2417},96,[59,2419,2420],{"class":307},"      switch",[59,2422,2423],{"class":276},"(key)\n",[59,2425,2427],{"class":61,"line":2426},97,[59,2428,2369],{"class":276},[59,2430,2432,2435,2438,2441],{"class":61,"line":2431},98,[59,2433,2434],{"class":307},"        case",[59,2436,2437],{"class":69}," 'w'",[59,2439,2440],{"class":276},":",[59,2442,2443],{"class":93}," // 前进\n",[59,2445,2447,2450,2452],{"class":61,"line":2446},99,[59,2448,2449],{"class":276},"          cmd_msg.linear.y ",[59,2451,308],{"class":307},[59,2453,2454],{"class":276}," linear_speed_;\n",[59,2456,2458,2461,2463,2465],{"class":61,"line":2457},100,[59,2459,2460],{"class":276},"          cmd_msg.linear.x ",[59,2462,308],{"class":307},[59,2464,1870],{"class":311},[59,2466,935],{"class":276},[59,2468,2470,2473,2475,2477],{"class":61,"line":2469},101,[59,2471,2472],{"class":276},"          cmd_msg.angular.z ",[59,2474,308],{"class":307},[59,2476,1870],{"class":311},[59,2478,935],{"class":276},[59,2480,2482,2485],{"class":61,"line":2481},102,[59,2483,2484],{"class":307},"          break",[59,2486,935],{"class":276},[59,2488,2490,2492,2495,2497],{"class":61,"line":2489},103,[59,2491,2434],{"class":307},[59,2493,2494],{"class":69}," 's'",[59,2496,2440],{"class":276},[59,2498,2499],{"class":93}," // 后退\n",[59,2501,2503,2505,2507,2509],{"class":61,"line":2502},104,[59,2504,2449],{"class":276},[59,2506,308],{"class":307},[59,2508,924],{"class":307},[59,2510,2454],{"class":276},[59,2512,2514,2516,2518,2520],{"class":61,"line":2513},105,[59,2515,2460],{"class":276},[59,2517,308],{"class":307},[59,2519,1870],{"class":311},[59,2521,935],{"class":276},[59,2523,2525,2527,2529,2531],{"class":61,"line":2524},106,[59,2526,2472],{"class":276},[59,2528,308],{"class":307},[59,2530,1870],{"class":311},[59,2532,935],{"class":276},[59,2534,2536,2538],{"class":61,"line":2535},107,[59,2537,2484],{"class":307},[59,2539,935],{"class":276},[59,2541,2543,2545,2548,2550],{"class":61,"line":2542},108,[59,2544,2434],{"class":307},[59,2546,2547],{"class":69}," 'a'",[59,2549,2440],{"class":276},[59,2551,2552],{"class":93}," // 左平移\n",[59,2554,2556,2558,2560,2562],{"class":61,"line":2555},109,[59,2557,2449],{"class":276},[59,2559,308],{"class":307},[59,2561,1870],{"class":311},[59,2563,935],{"class":276},[59,2565,2567,2569,2571,2573],{"class":61,"line":2566},110,[59,2568,2460],{"class":276},[59,2570,308],{"class":307},[59,2572,924],{"class":307},[59,2574,2454],{"class":276},[59,2576,2578,2580,2582,2584],{"class":61,"line":2577},111,[59,2579,2472],{"class":276},[59,2581,308],{"class":307},[59,2583,1870],{"class":311},[59,2585,935],{"class":276},[59,2587,2589,2591],{"class":61,"line":2588},112,[59,2590,2484],{"class":307},[59,2592,935],{"class":276},[59,2594,2596,2598,2601,2603],{"class":61,"line":2595},113,[59,2597,2434],{"class":307},[59,2599,2600],{"class":69}," 'd'",[59,2602,2440],{"class":276},[59,2604,2605],{"class":93}," // 右平移\n",[59,2607,2609,2611,2613,2615],{"class":61,"line":2608},114,[59,2610,2449],{"class":276},[59,2612,308],{"class":307},[59,2614,1870],{"class":311},[59,2616,935],{"class":276},[59,2618,2620,2622,2624],{"class":61,"line":2619},115,[59,2621,2460],{"class":276},[59,2623,308],{"class":307},[59,2625,2454],{"class":276},[59,2627,2629,2631,2633,2635],{"class":61,"line":2628},116,[59,2630,2472],{"class":276},[59,2632,308],{"class":307},[59,2634,1870],{"class":311},[59,2636,935],{"class":276},[59,2638,2640,2642],{"class":61,"line":2639},117,[59,2641,2484],{"class":307},[59,2643,935],{"class":276},[59,2645,2647,2649,2652,2654],{"class":61,"line":2646},118,[59,2648,2434],{"class":307},[59,2650,2651],{"class":69}," 'q'",[59,2653,2440],{"class":276},[59,2655,2656],{"class":93}," // 逆时针旋转\n",[59,2658,2660,2662,2664,2666],{"class":61,"line":2659},119,[59,2661,2449],{"class":276},[59,2663,308],{"class":307},[59,2665,1870],{"class":311},[59,2667,935],{"class":276},[59,2669,2671,2673,2675,2677],{"class":61,"line":2670},120,[59,2672,2460],{"class":276},[59,2674,308],{"class":307},[59,2676,1870],{"class":311},[59,2678,935],{"class":276},[59,2680,2682,2684,2686,2688],{"class":61,"line":2681},121,[59,2683,2472],{"class":276},[59,2685,308],{"class":307},[59,2687,924],{"class":307},[59,2689,2690],{"class":276}," angular_speed_;\n",[59,2692,2694,2696],{"class":61,"line":2693},122,[59,2695,2484],{"class":307},[59,2697,935],{"class":276},[59,2699,2701,2703,2706,2708],{"class":61,"line":2700},123,[59,2702,2434],{"class":307},[59,2704,2705],{"class":69}," 'e'",[59,2707,2440],{"class":276},[59,2709,2710],{"class":93}," // 顺时针旋转\n",[59,2712,2714,2716,2718],{"class":61,"line":2713},124,[59,2715,2472],{"class":276},[59,2717,308],{"class":307},[59,2719,2690],{"class":276},[59,2721,2723,2725],{"class":61,"line":2722},125,[59,2724,2484],{"class":307},[59,2726,935],{"class":276},[59,2728,2730,2732,2735,2737],{"class":61,"line":2729},126,[59,2731,2434],{"class":307},[59,2733,2734],{"class":69}," 'i'",[59,2736,2440],{"class":276},[59,2738,2739],{"class":93}," // 增加线速度\n",[59,2741,2743,2746,2748,2750,2752,2755,2758,2761],{"class":61,"line":2742},127,[59,2744,2745],{"class":276},"          linear_speed_ ",[59,2747,308],{"class":307},[59,2749,800],{"class":65},[59,2751,277],{"class":276},[59,2753,2754],{"class":65},"clamp",[59,2756,2757],{"class":276},"(linear_speed_ ",[59,2759,2760],{"class":307},"+",[59,2762,2763],{"class":276}," linear_step_, min_linear_speed_, max_linear_speed_);\n",[59,2765,2767,2770,2772,2774,2776,2778,2780,2783,2786,2788],{"class":61,"line":2766},128,[59,2768,2769],{"class":65},"          RCLCPP_INFO",[59,2771,330],{"class":276},[59,2773,363],{"class":311},[59,2775,659],{"class":276},[59,2777,662],{"class":65},[59,2779,665],{"class":276},[59,2781,2782],{"class":69},"\"Linear increased to: ",[59,2784,2785],{"class":311},"%.2f",[59,2787,682],{"class":69},[59,2789,2790],{"class":276},", linear_speed_);\n",[59,2792,2794,2796],{"class":61,"line":2793},129,[59,2795,2484],{"class":307},[59,2797,935],{"class":276},[59,2799,2801,2803,2806,2808],{"class":61,"line":2800},130,[59,2802,2434],{"class":307},[59,2804,2805],{"class":69}," ','",[59,2807,2440],{"class":276},[59,2809,2810],{"class":93}," // 减小线速度\n",[59,2812,2814,2816,2818,2820,2822,2824,2826,2829],{"class":61,"line":2813},131,[59,2815,2745],{"class":276},[59,2817,308],{"class":307},[59,2819,800],{"class":65},[59,2821,277],{"class":276},[59,2823,2754],{"class":65},[59,2825,2757],{"class":276},[59,2827,2828],{"class":307},"-",[59,2830,2763],{"class":276},[59,2832,2834,2836,2838,2840,2842,2844,2846,2849,2851,2853],{"class":61,"line":2833},132,[59,2835,2769],{"class":65},[59,2837,330],{"class":276},[59,2839,363],{"class":311},[59,2841,659],{"class":276},[59,2843,662],{"class":65},[59,2845,665],{"class":276},[59,2847,2848],{"class":69},"\"Linear decreased to: ",[59,2850,2785],{"class":311},[59,2852,682],{"class":69},[59,2854,2790],{"class":276},[59,2856,2858,2860],{"class":61,"line":2857},133,[59,2859,2484],{"class":307},[59,2861,935],{"class":276},[59,2863,2865,2867,2870,2872],{"class":61,"line":2864},134,[59,2866,2434],{"class":307},[59,2868,2869],{"class":69}," 'l'",[59,2871,2440],{"class":276},[59,2873,2874],{"class":93}," // 增加角速度\n",[59,2876,2878,2881,2883,2885,2887,2889,2892,2894],{"class":61,"line":2877},135,[59,2879,2880],{"class":276},"          angular_speed_ ",[59,2882,308],{"class":307},[59,2884,800],{"class":65},[59,2886,277],{"class":276},[59,2888,2754],{"class":65},[59,2890,2891],{"class":276},"(angular_speed_ ",[59,2893,2760],{"class":307},[59,2895,2896],{"class":276}," angular_step_, min_angular_speed_, max_angular_speed_);\n",[59,2898,2900,2902,2904,2906,2908,2910,2912,2915,2917,2919],{"class":61,"line":2899},136,[59,2901,2769],{"class":65},[59,2903,330],{"class":276},[59,2905,363],{"class":311},[59,2907,659],{"class":276},[59,2909,662],{"class":65},[59,2911,665],{"class":276},[59,2913,2914],{"class":69},"\"Angular increased to: ",[59,2916,2785],{"class":311},[59,2918,682],{"class":69},[59,2920,2921],{"class":276},", angular_speed_);\n",[59,2923,2925,2927],{"class":61,"line":2924},137,[59,2926,2484],{"class":307},[59,2928,935],{"class":276},[59,2930,2932,2934,2937,2939],{"class":61,"line":2931},138,[59,2933,2434],{"class":307},[59,2935,2936],{"class":69}," 'j'",[59,2938,2440],{"class":276},[59,2940,2941],{"class":93}," // 减小角速度\n",[59,2943,2945,2947,2949,2951,2953,2955,2957,2959],{"class":61,"line":2944},139,[59,2946,2880],{"class":276},[59,2948,308],{"class":307},[59,2950,800],{"class":65},[59,2952,277],{"class":276},[59,2954,2754],{"class":65},[59,2956,2891],{"class":276},[59,2958,2828],{"class":307},[59,2960,2896],{"class":276},[59,2962,2964,2966,2968,2970,2972,2974,2976,2979,2981,2983],{"class":61,"line":2963},140,[59,2965,2769],{"class":65},[59,2967,330],{"class":276},[59,2969,363],{"class":311},[59,2971,659],{"class":276},[59,2973,662],{"class":65},[59,2975,665],{"class":276},[59,2977,2978],{"class":69},"\"Angular decreased to: ",[59,2980,2785],{"class":311},[59,2982,682],{"class":69},[59,2984,2921],{"class":276},[59,2986,2988,2990],{"class":61,"line":2987},141,[59,2989,2484],{"class":307},[59,2991,935],{"class":276},[59,2993,2995,2997,3000,3002],{"class":61,"line":2994},142,[59,2996,2434],{"class":307},[59,2998,2999],{"class":69}," 'k'",[59,3001,2440],{"class":276},[59,3003,3004],{"class":93}," // 停止\n",[59,3006,3008,3010,3012,3014],{"class":61,"line":3007},143,[59,3009,2449],{"class":276},[59,3011,308],{"class":307},[59,3013,1870],{"class":311},[59,3015,935],{"class":276},[59,3017,3019,3021,3023,3025],{"class":61,"line":3018},144,[59,3020,2460],{"class":276},[59,3022,308],{"class":307},[59,3024,1870],{"class":311},[59,3026,935],{"class":276},[59,3028,3030,3032,3034,3036],{"class":61,"line":3029},145,[59,3031,2472],{"class":276},[59,3033,308],{"class":307},[59,3035,1870],{"class":311},[59,3037,935],{"class":276},[59,3039,3041,3043],{"class":61,"line":3040},146,[59,3042,2484],{"class":307},[59,3044,935],{"class":276},[59,3046,3048,3051],{"class":61,"line":3047},147,[59,3049,3050],{"class":307},"        default",[59,3052,3053],{"class":276},":\n",[59,3055,3057,3060,3062,3064,3066,3068,3070,3073],{"class":61,"line":3056},148,[59,3058,3059],{"class":65},"          RCLCPP_WARN",[59,3061,330],{"class":276},[59,3063,363],{"class":311},[59,3065,659],{"class":276},[59,3067,662],{"class":65},[59,3069,665],{"class":276},[59,3071,3072],{"class":69},"\"Unknown key pressed!\"",[59,3074,1372],{"class":276},[59,3076,3078],{"class":61,"line":3077},149,[59,3079,1478],{"class":276},[59,3081,3083],{"class":61,"line":3082},150,[59,3084,787],{"class":276},[59,3086,3088,3091,3094],{"class":61,"line":3087},151,[59,3089,3090],{"class":276},"    keyboard_control_pub_->",[59,3092,3093],{"class":65},"publish",[59,3095,3096],{"class":276},"(cmd_msg);\n",[59,3098,3100],{"class":61,"line":3099},152,[59,3101,857],{"class":276},[59,3103,3105],{"class":61,"line":3104},153,[59,3106,87],{"emptyLinePlaceholder":86},[59,3108,3110],{"class":61,"line":3109},154,[59,3111,863],{"class":276},[59,3113,3115],{"class":61,"line":3114},155,[59,3116,87],{"emptyLinePlaceholder":86},[59,3118,3120,3123,3126,3128,3130,3133,3135,3138,3141,3144],{"class":61,"line":3119},156,[59,3121,3122],{"class":307},"int",[59,3124,3125],{"class":65}," main",[59,3127,330],{"class":276},[59,3129,3122],{"class":307},[59,3131,3132],{"class":409}," argc",[59,3134,491],{"class":276},[59,3136,3137],{"class":307},"char",[59,3139,3140],{"class":307}," **",[59,3142,3143],{"class":409}," argv",[59,3145,413],{"class":276},[59,3147,3149],{"class":61,"line":3148},157,[59,3150,1582],{"class":276},[59,3152,3154,3157,3159,3162],{"class":61,"line":3153},158,[59,3155,3156],{"class":65},"  rclcpp",[59,3158,277],{"class":276},[59,3160,3161],{"class":65},"init",[59,3163,3164],{"class":276},"(argc,argv);\n",[59,3166,3168],{"class":61,"line":3167},159,[59,3169,87],{"emptyLinePlaceholder":86},[59,3171,3173,3176,3179,3181,3183,3185,3188,3190,3192],{"class":61,"line":3172},160,[59,3174,3175],{"class":307},"  auto",[59,3177,3178],{"class":276}," node ",[59,3180,308],{"class":307},[59,3182,800],{"class":65},[59,3184,277],{"class":276},[59,3186,3187],{"class":65},"make_shared",[59,3189,283],{"class":276},[59,3191,1753],{"class":65},[59,3193,3194],{"class":276},">();\n",[59,3196,3198],{"class":61,"line":3197},161,[59,3199,87],{"emptyLinePlaceholder":86},[59,3201,3203,3205,3207,3210],{"class":61,"line":3202},162,[59,3204,3156],{"class":65},[59,3206,277],{"class":276},[59,3208,3209],{"class":65},"spin",[59,3211,3212],{"class":276},"(node);\n",[59,3214,3216],{"class":61,"line":3215},163,[59,3217,87],{"emptyLinePlaceholder":86},[59,3219,3221,3223,3225,3228],{"class":61,"line":3220},164,[59,3222,3156],{"class":65},[59,3224,277],{"class":276},[59,3226,3227],{"class":65},"shutdown",[59,3229,576],{"class":276},[59,3231,3233,3236,3238],{"class":61,"line":3232},165,[59,3234,3235],{"class":307},"  return",[59,3237,1332],{"class":311},[59,3239,935],{"class":276},[59,3241,3243],{"class":61,"line":3242},166,[59,3244,3245],{"class":276},"}\n",[3247,3248,3249],"style",{},"html pre.shiki code .sScJk, html code.shiki .sScJk{--shiki-default:#6F42C1;--shiki-dark:#B392F0}html pre.shiki code .sZZnC, html code.shiki .sZZnC{--shiki-default:#032F62;--shiki-dark:#9ECBFF}html .default .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .shiki span {color: var(--shiki-default);background: var(--shiki-default-bg);font-style: var(--shiki-default-font-style);font-weight: var(--shiki-default-font-weight);text-decoration: var(--shiki-default-text-decoration);}html .dark .shiki span {color: var(--shiki-dark);background: var(--shiki-dark-bg);font-style: var(--shiki-dark-font-style);font-weight: var(--shiki-dark-font-weight);text-decoration: var(--shiki-dark-text-decoration);}html.dark .shiki span {color: var(--shiki-dark);background: var(--shiki-dark-bg);font-style: var(--shiki-dark-font-style);font-weight: var(--shiki-dark-font-weight);text-decoration: var(--shiki-dark-text-decoration);}html pre.shiki code .sJ8bj, html code.shiki .sJ8bj{--shiki-default:#6A737D;--shiki-dark:#6A737D}html pre.shiki code .sVt8B, html code.shiki .sVt8B{--shiki-default:#24292E;--shiki-dark:#E1E4E8}html pre.shiki code .szBVR, html code.shiki .szBVR{--shiki-default:#D73A49;--shiki-dark:#F97583}html pre.shiki code .sj4cs, html code.shiki .sj4cs{--shiki-default:#005CC5;--shiki-dark:#79B8FF}html pre.shiki code .s4XuR, html code.shiki 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Classic","11.1",11010000,{"path":3293,"stem":3294,"title":3295,"date":3260,"chapter":3296,"chapterSort":3297,"docKey":3262,"docRoot":3263,"docTitle":3264,"isWikiDoc":86,"isWikiIndex":3267},"/zh-cn/wiki/2023-12-30-ros2-tutorial/ch11-2-ignitiongazebo","wiki/2023-12-30-ros2-tutorial/ch11-2-IgnitionGazebo","Ignition Gazebo（Gazebo Fortress）","11.2",11020000,{"path":3299,"stem":3300,"title":3301,"date":3260,"chapter":3302,"chapterSort":3303,"docKey":3262,"docRoot":3263,"docTitle":3264,"isWikiDoc":86,"isWikiIndex":3267},"/zh-cn/wiki/2023-12-30-ros2-tutorial/ch11-3-gazebosim","wiki/2023-12-30-ros2-tutorial/ch11-3-GazeboSim","Gz Sim（Gazebo Harmonic）","11.3",11030000,{"path":3305,"stem":3306,"title":3307,"date":3260,"chapter":3308,"chapterSort":3309,"docKey":3262,"docRoot":3263,"docTitle":3264,"isWikiDoc":86,"isWikiIndex":3267},"/zh-cn/wiki/2023-12-30-ros2-tutorial/ch11-4-igngz2gzsim","wiki/2023-12-30-ros2-tutorial/ch11-4-Igngz2gzsim","将Ign Gazebo迁移至Gz 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