配套源码

app.yaml

app/app.yaml

ros-zdt-x57s-single-motor：用 ROS 2 控制一台 ZDT X57Sapp/app.yaml

name: ROS ZDT X57S Single Motor
description: Combine the ROS WebSocket and single-motor ZDT X57S CAN Bricks.
ports: []
bricks:
  - ros_gateway:
      variables:
        ROS_GATEWAY_HOST: "0.0.0.0"
        ROS_GATEWAY_PORT: "8765"
        ROS_GATEWAY_PATH: "/ros"
        ROS_GATEWAY_NODE_NAME: "ros-zdt-x57s-single-motor"
        ROS_GATEWAY_MAX_MOTOR_RPM: "60"
        ROS_GATEWAY_COMMAND_TIMEOUT_MS: "300"
        ROS_GATEWAY_HEARTBEAT_TIMEOUT_MS: "3000"
  - zdt_x57s_can:
      variables:
        ZDT_CAN_GATEWAY_HOST: "msgpack-rpc-router"
        ZDT_CAN_GATEWAY_PORT: "8766"
        ZDT_CAN_GATEWAY_TOKEN: "<随机令牌>"
        ZDT_CAN_REQUEST_TIMEOUT_S: "1.5"
        ZDT_MOTOR_ID: "1"
icon: 🔗