[问答]

如何去实现一个TF广播器呢

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问答对人有帮助，内容完整，我也想知道答案 0 TF广播器是怎样去定义的？如何去实现一个TF广播器呢？ 0
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答案对人有帮助，有参考价值 0 创建功能包 cd ~/catkin_workspace/src catkin_create_pkg learning_tf roscpp rospy tf turtlesim 如何实现一个tf广播器定义TF广播器（TransformBroadcaster）创建坐标变换值；发布坐标变换（sendTransform）创建tf广播器代码（C++） nano ~/catkin_workspace/src/learning_tf/src/turtle_tf_broadcaster.cpp /********************************************************************* Copyright 2020 GuYueHome (www.guyuehome.com). *******************************************************************/ / * 该例程产生tf数据，并计算、发布turtle2的速度指令 / #include #include #include std::string turtle_name; void poseCallback(const turtlesim::PoseConstPtr& msg) { // 创建tf的广播器 static tf::TransformBroadcaster br; // 初始化tf数据 tf::Transform transform; transform.setOrigin( tf::Vector3(msg->x, msg->y, 0.0) ); tf::Quaternion q; q.setRPY(0, 0, msg->theta); transform.setRotation(q); // 广播world与海龟坐标系之间的tf数据 br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", turtle_name)); } int main(int argc, char* argv) { // 初始化ROS节点 ros::init(argc, argv, "my_tf_broadcaster"); // 输入参数作为海龟的名字 if (argc != 2) { ROS_ERROR("need turtle name as argument"); return -1; } turtle_name = argv[1]; // 订阅海龟的位姿话题 ros::NodeHandle node; ros::Subscriber sub = node.subscribe(turtle_name+"/pose", 10, &poseCallback); // 循环等待回调函数 ros::spin(); return 0; }; 配置编译规则 nano ~/catkin_workspace/src/learning_tf/CMakeLists.txt add_executable(turtle_tf_broadcaster src/turtle_tf_broadcaster.cpp) target_link_libraries(turtle_tf_broadcaster ${catkin_LIBRARIES}) add_executable(turtle_tf_listener src/turtle_tf_listener.cpp) target_link_libraries(turtle_tf_listener ${catkin_LIBRARIES}) 编译并运行 cd ~/catkin_workspace catkin_make # 新建一个终端 source ~/catkin_workspace/devel/setup.bash roscore # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rosrun turtlesim turtlesim_node # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rosrun learning_tf turtle_tf_broadcaster __name:=turtle1_tf_broadcaster /turtle1 # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rosrun learning_tf turtle_tf_broadcaster __name:=turtle2_tf_broadcaster /turtle2 # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rosrun learning_tf turtle_tf_listener # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rosrun turtlesim turtle_teleop_key # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rqt_graph python 编写程序 cd ~/catkin_workspace/src/learning_tf mkdir scripts 1 2 turtle_tf_broadcaster.py nano ~/catkin_workspace/src/learning_tf/scripts/turtle_tf_broadcaster.py 1 #!/usr/bin/env python # -- coding: utf-8 -- ######################################################################## #### Copyright 2020 GuYueHome (www.guyuehome.com). ### ######################################################################## # 该例程将请求/show_person服务，服务数据类型learning_service::Person import roslib roslib.load_manifest('learning_tf') import rospy import tf import turtlesim.msg def handle_turtle_pose(msg, turtlename): br = tf.TransformBroadcaster() br.sendTransform((msg.x, msg.y, 0), tf.transformations.quaternion_from_euler(0, 0, msg.theta), rospy.Time.now(), turtlename, "world") if __name__ == '__main__': rospy.init_node('turtle_tf_broadcaster') turtlename = rospy.get_param('~turtle') rospy.Subscriber('/%s/pose' % turtlename, turtlesim.msg.Pose, handle_turtle_pose, turtlename) rospy.spin() turtle_tf_listener.py nano ~/catkin_workspace/src/learning_tf/scripts/turtle_tf_listener.py #!/usr/bin/env python # -- coding: utf-8 -- ######################################################################## #### Copyright 2020 GuYueHome (www.guyuehome.com). ### ######################################################################## # 该例程将请求/show_person服务，服务数据类型learning_service::Person import roslib roslib.load_manifest('learning_tf') import rospy import math import tf import geometry_msgs.msg import turtlesim.srv if __name__ == '__main__': rospy.init_node('turtle_tf_listener') listener = tf.TransformListener() rospy.wait_for_service('spawn') spawner = rospy.ServiceProxy('spawn', turtlesim.srv.Spawn) spawner(4, 2, 0, 'turtle2') turtle_vel = rospy.Publisher('turtle2/cmd_vel', geometry_msgs.msg.Twist,queue_size=1) rate = rospy.Rate(10.0) while not rospy.is_shutdown(): try: (trans,rot) = listener.lookupTransform('/turtle2', '/turtle1', rospy.Time(0)) except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException): continue angular = 4 * math.atan2(trans[1], trans[0]) linear = 0.5 * math.sqrt(trans[0] 2 + trans[1] 2) cmd = geometry_msgs.msg.Twist() cmd.linear.x = linear cmd.angular.z = angular turtle_vel.publish(cmd) rate.sleep() 运行 sudo chmod +x ~/catkin_workspace/src/learning_tf/scripts/turtle_tf_broadcaster.py sudo chmod +x ~/catkin_workspace/src/learning_tf/scripts/turtle_tf_listener.py # 新建一个终端 source ~/catkin_workspace/devel/setup.bash roscore # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rosrun turtlesim turtlesim_node # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rosrun learning_tf turtle_tf_broadcaster.py __name:=turtle1_tf_broadcaster _turtle:=turtle1 # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rosrun learning_tf turtle_tf_broadcaster.py __name:=turtle2_tf_broadcaster _turtle:=turtle2 # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rosrun learning_tf turtle_tf_listener.py # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rosrun turtlesim turtle_teleop_key # 新建一个终端 source ~/catkin_workspace/devel/setup.bash rqt_graph

2022-2-14 10:11:30 评论举报李富贵