@小鱼
Ubuntu 24.04.1 LTS
开终端
docker run -it --rm -v /dev:/dev -v /dev/shm:/dev/shm --privileged --net=host registry.cn-hangzhou.aliyuncs.com/fishros/micro-ros-agent:humble udp4 --port 8888 -v6
开新终端
ros2 run teleop_twist_keyboard teleop_twist_keyboard
原终端
[1752732918.127213] info | ProxyClient.cpp | create_topic | topic created | client_key: 0x2A8750AE, topic_id: 0x000(2), participant_id: 0x000(1)
[1752732918.127246] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x2A8750AE, len: 14, data:
0000: 81 80 01 00 05 01 06 00 00 0B 00 02 00 00
[1752732918.127253] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x2A8750AE, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1752732918.164447] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x2A8750AE, len: 13, data:
0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80
[1752732918.236313] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x2A8750AE, len: 13, data:
0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80
[1752732918.236517] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x2A8750AE, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1752732918.364735] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x2A8750AE, len: 13, data:
0000: 81 00 00 00 0B 01 05 00 01 00 01 00 80
[1752732918.370782] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x2A8750AE, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1752732918.389860] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x2A8750AE, len: 24, data:
0000: 81 80 02 00 01 07 10 00 00 0C 00 03 03 03 00 01 02 00 00 00 00 00 00 01
[1752732918.389890] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x2A8750AE, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1752732918.389899] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x2A8750AE, len: 13, data:
0000: 81 00 00 00 0B 01 05 00 02 00 02 00 80
[1752732918.390052] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x2A8750AE, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 02 00 00 01 80
[1752732918.390108] info | ProxyClient.cpp | create_publisher | publisher created | client_key: 0x2A8750AE, publisher_id: 0x000(3), participant_id: 0x000(1)
[1752732918.390128] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x2A8750AE, len: 14, data:
0000: 81 80 02 00 05 01 06 00 00 0C 00 03 00 00
[1752732918.390134] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x2A8750AE, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1752732918.455072] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x2A8750AE, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 02 00 00 00 80
[1752732918.455098] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x2A8750AE, len: 24, data:
0000: 81 80 02 00 01 07 10 00 00 0C 00 03 03 03 00 01 02 00 00 00 00 00 00 01
[1752732918.455265] debug | UDPv4AgentLinux.cpp | send_message | [** <<UDP>> **] | client_key: 0x2A8750AE, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1752732918.541929] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x2A8750AE, len: 13, data:
0000: 81 00 00 00 0A 01 05 00 03 00 00 00 80
[1752732918.542394] debug | UDPv4AgentLinux.cpp | recv_message | [==>> UDP <<==] | client_key: 0x2A8750AE, len: 36, data:
0000: 81 80 03 00 01 07 1C 00 00 0D 00 05 05 03 00 01 0E 00 00 00 00 02 01 00 02 00 01 B3 05 00 00 00
0020: 00 00 00 03
terminate called after throwing an instance of 'eprosima::fastcdr::exception::NotEnoughMemoryException'
what(): Not enough memory in the buffer stream
[ros2run]: Aborted
新终端
This node takes keypresses from the keyboard and publishes them
as Twist/TwistStamped messages. It works best with a US keyboard layout.
---------------------------
Moving around:
u i o
j k l
m , .
For Holonomic mode (strafing), hold down the shift key:
---------------------------
U I O
J K L
M < >
t : up (+z)
b : down (-z)
anything else : stop
q/z : increase/decrease max speeds by 10%
w/x : increase/decrease only linear speed by 10%
e/c : increase/decrease only angular speed by 10%
CTRL-C to quit
currently: speed 0.5 turn 1.0