一、运行gazebo查看topic list

ros2 launch dobot_gazebo gazebo_moveit.launch.py

ros2 topic list

/clock
/dynamic_joint_states
/joint_state_broadcaster/transition_event
/joint_states
/nova2_group_controller/controller_state
/nova2_group_controller/joint_trajectory
/nova2_group_controller/state
/nova2_group_controller/transition_event
/parameter_events
/performance_metrics
/robot_description
/rosout
/tf
/tf_static

二、新建C++ pkg

ros2 pkg create --build-type ament_cmake --license Apache-2.0 joystick_Nova2_control

cmakelist.txt

find_package(rclcpp REQUIRED)
add_executable(cpp_node src/cpp_node.cpp)
ament_target_dependencies(cpp_node rclcpp)
install(TARGETS cpp_node
       DESTINATION lib/${PROJECT_NAME})

package.xml

 <depend>rclcpp</depend>

三、启动

ros2 run joy joy_node
ros2 launch dobot_gazebo gazebo_moveit.launch.py
ros2 launch dobot_moveit moveit_gazebo.launch.py
ros2 topic pub /clock rosgraph_msgs/msg/Clock "{clock: {sec: 0, nanosec: 0}}" -r 100