通信消息桥
can_msg_bridge
语言：English / 中文
负责解析 mcu-controller 提供的数据，同步 MCU 数据与上层系统的时间戳，将其转发给 robot-controller 。Basic Information
Installation method |
Supported platform[s] |
|---|---|
Source |
Jetpack 5.1.2 , ros-humble |
Published
ROS Topic |
Interface |
Frame ID |
Description |
|---|---|---|---|
system/joint |
sensor_msgs::msg::JointState |
None |
关节电机的数据 |
body/imu |
sensor_msgs::msg::Imu |
base_link |
机器人本体的 IMU 数据 |
Build Package
# if have extra dependencies
# apt install <libdepend-dev>
colcon build --packages-select can_msg_bridge