Demo演示

点击此处获取A1 Demo脚本。

cd A1_SDK/install
source setup.bash
#启动关节控制
roslaunch mobiman jointTrackerdemo.launch
#启动末端姿态控制
roslaunch mobiman a1_arm_relaxed_ik.launch

运行以下命令以控制末端执行器运动：

rostopic pub /a1_ee_target geometry_msgs/PoseStamped "{
header: {
seq: 0,
stamp: {secs: 0, nsecs: 0},
frame_id: 'world'
},
pose: {
position: {x: 0.08, y: 0.0, z: 0.5},
orientation: {x: 0.5, y: 0.5, z: 0.5, w: 0.5}
}
}"