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添加关节发布节点与物料可视化节点进入unilab

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zhangshixiang
2025-04-27 19:07:39 +08:00
parent bed9720de3
commit ff8b75bf1f
6 changed files with 121 additions and 38 deletions
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14
unilabos/device_mesh/resource_visalization.py
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@@ -119,12 +119,12 @@ class ResourceVisualization:
}]
)
joint_state_publisher_node = nd(
package='joint_state_publisher_gui', # 或 joint_state_publisher
executable='joint_state_publisher_gui',
name='joint_state_publisher',
output='screen'
)
# joint_state_publisher_node = nd(
# package='joint_state_publisher_gui', # 或 joint_state_publisher
# executable='joint_state_publisher_gui',
# name='joint_state_publisher',
# output='screen'
# )
# 创建move_group节点
move_group = nd(
package='moveit_ros_move_group',
@@ -147,7 +147,7 @@ class ResourceVisualization:
# 将节点添加到launch描述中
self.launch_description.add_action(robot_state_publisher)
self.launch_description.add_action(joint_state_publisher_node)
# self.launch_description.add_action(joint_state_publisher_node)
self.launch_description.add_action(move_group)
# 如果启用RViz,添加RViz节点