sim2real ROS2

DISCONNECTED
Control Mode

Runtime

target_source--
runtime_released--
release_alpha--
zero_command--
estop--
mux--
model--
switch_state--
backend--
switching--

IMU and Odom

IMU fresh--
IMU age ms--
projected_gravity--
holdover--
odom age ms--
odom local pos--
nav pose--
nav status--
task mission--
active goal--
goal count--
route align--
odom fallback--

Joint State (16)

PCD 2D Nav

Left click sends an absolute goal. Green line is the mission path, purple is the active A* path, cyan marks completed waypoints, orange is the current target, and blue is the robot pose.

Web Manual Control

Drag to control vx and vy. Release to return to zero.

vx 0.00
vy 0.00
yaw 0.00
vx=0.00 vy=0.00 yaw=0.00

Current /cmd_vel

linear.x--
linear.y--
angular.z--

Events