ros学习（三）：c++ tf-tutorials学习

0.前言

tf Tutorialshttp://wiki.ros.org/tf/Tutorials

Writing a tf broadcaster (C++)http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20broadcaster%20%28C%2B%2B%29 Writing a tf listener (C++)

一、创建工作空间

##任意非中文目录下都可以
mkdir -p ./tf_tutorial_ws/src
cd tf_tutorial_ws/
catkin_init_workspace src/
catkin_make

source devel/setup.bash 

二、tf-broadcaster

1.创建turtle_tf_broadcaster.cpp

cd tf_tutorial_ws/src
catkin_create_pkg learning_tf tf roscpp rospy turtlesim

cd learning_tf/src/
gedit turtle_tf_broadcaster.cpp

        粘贴如下代码到打开的文件中 

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <turtlesim/Pose.h>

std::string turtle_name;



void poseCallback(const turtlesim::PoseConstPtr& msg){
  static tf::TransformBroadcaster br;
  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);
  br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", turtle_name));
}

int main(int argc, char** argv){
  ros::init(argc, argv, "my_tf_broadcaster");
  if (argc != 2){ROS_ERROR("need turtle name as argument"); return -1;};
  turtle_name = argv[1];

  ros::NodeHandle node;
  ros::Subscriber sub = node.subscribe(turtle_name+"/pose", 10, &poseCallback);

  ros::spin();
  return 0;
};

2.修改CMakeLists.txt

cd ..
gedit CMakeLists.txt

        在底部添加：

add_executable(turtle_tf_broadcaster src/turtle_tf_broadcaster.cpp)
target_link_libraries(turtle_tf_broadcaster ${catkin_LIBRARIES})

3.创建启动launch文件

mkdir launch
cd launch
gedit start_demo.launch

        粘贴并保存关闭：

  <launch>
    <!-- Turtlesim Node-->
    <node pkg="turtlesim" type="turtlesim_node" name="sim"/>

    <node pkg="turtlesim" type="turtle_teleop_key" name="teleop" output="screen"/>
    <!-- Axes -->
    <param name="scale_linear" value="2" type="double"/>
    <param name="scale_angular" value="2" type="double"/>

    <node pkg="learning_tf" type="turtle_tf_broadcaster"
          args="/turtle1" name="turtle1_tf_broadcaster" />
    <node pkg="learning_tf" type="turtle_tf_broadcaster"
          args="/turtle2" name="turtle2_tf_broadcaster" />

  </launch>

 4.运行及检查结果

cd ../../..
catkin_make
source devel/setup.bash
roslaunch learning_tf start_demo.launch

        在现在这个程序终端里面，按前后左右可以控制海龟运动。

         校正：使用tf_echo工具检查海龟姿势是否真的向tf广播：

rosrun tf tf_echo /world /turtle1

         控制海龟允许后，海龟姿势发生变化：

三 tf listener

1.创建turtle_tf_listener.cpp

cd tf_tutorial_ws/src/learning_tf/src
geidt turtle_tf_listener.cpp

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/Twist.h>
#include <turtlesim/Spawn.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "my_tf_listener");

  ros::NodeHandle node;

  ros::service::waitForService("spawn");
  ros::ServiceClient add_turtle =
    node.serviceClient<turtlesim::Spawn>("spawn");
  turtlesim::Spawn srv;
  add_turtle.call(srv);

  ros::Publisher turtle_vel =
    node.advertise<geometry_msgs::Twist>("turtle2/cmd_vel", 10);

  tf::TransformListener listener;

  ros::Rate rate(10.0);
  while (node.ok()){
    tf::StampedTransform transform;
    try{
      listener.lookupTransform("/turtle2", "/turtle1",
                               ros::Time(0), transform);
    }
    catch (tf::TransformException &ex) {
      ROS_ERROR("%s",ex.what());
      ros::Duration(1.0).sleep();
      continue;
    }

    geometry_msgs::Twist vel_msg;
    vel_msg.angular.z = 4.0 * atan2(transform.getOrigin().y(),
                                    transform.getOrigin().x());
    vel_msg.linear.x = 0.5 * sqrt(pow(transform.getOrigin().x(), 2) +
                                  pow(transform.getOrigin().y(), 2));
    turtle_vel.publish(vel_msg);

    rate.sleep();
  }
  return 0;
};

2.修改CMakeLsits.txt

cd ..
gedit CMakeLists.txt

        在末尾添加：

add_executable(turtle_tf_listener src/turtle_tf_listener.cpp)
target_link_libraries(turtle_tf_listener ${catkin_LIBRARIES})

3.修改launch文件

cd launch/
gedit start_demo.launch 

        在最后一个</launch>上面一行添加一个节点，示例如下：

  <launch>
    ...
    <node pkg="learning_tf" type="turtle_tf_listener"
          name="listener" />
  </launch>

         完整的launch文件如下：

  <launch>
    <!-- Turtlesim Node-->
    <node pkg="turtlesim" type="turtlesim_node" name="sim"/>

    <node pkg="turtlesim" type="turtle_teleop_key" name="teleop" output="screen"/>
    <!-- Axes -->
    <param name="scale_linear" value="2" type="double"/>
    <param name="scale_angular" value="2" type="double"/>

    <node pkg="learning_tf" type="turtle_tf_broadcaster"
          args="/turtle1" name="turtle1_tf_broadcaster" />
    <node pkg="learning_tf" type="turtle_tf_broadcaster"
          args="/turtle2" name="turtle2_tf_broadcaster" />
    <node pkg="learning_tf" type="turtle_tf_listener"
          name="listener" />
  </launch>

4.运行检查

cd tf_tutorial_ws
catkin_make
roslaunch learning_tf start_demo.launch

        在该终端移动方向键，会移动第一只乌龟，同时第二只乌龟会跟随第一只乌龟运动；最终两者会几乎重合

@meng