ROS tf坐标系广播与监听的编程实现

创建功能包

cd ~/catkin_ws/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）

turtle_tf_broadcaster.cpp

//创建tf广播器代码（C++）

/**
* 该例程产生tf数据，并计算、发布turtle2的速度指令
*/
#include<ros/ros.h>
#include<tf/transform_broadcaster.h>
#include<turtlesim/Pose.h>

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;
}

====================

如何实现一个TF监听器

• 定义TF监听器（TransformListener）
• 查找坐标变换（waitForTransform、lookupTransform）

turtle_tf_listener.cpp

//创建tf监听器代码（C++）

/**
* 该例程监听tf数据，并计算、发布turtle2的速度指令
*/

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

int main(int argc,char **argv)
{
    // 初始化ROS节点
    ros::init(argc,argv,"my_tf_listener");

    // 创建节点句柄
    ros::NodeHandle node;

    // 请求产生turtle2
    ros::service::waitForService("/spawn");
    ros::ServiceClient add_turtle=node.serviceClient<turtlesim::Spawn>("/spawn");
    turtlesim::Spawn srv;
    add_turtle.call(srv);

    // 创建发布turtle2速度控制指令的发布者
    ros::Publisher turtle_vel=node.advertise<geometry_msgs::Twist>("/turtle2/cmd_vel",10);

    // 创建tf的监听器
    tf::TransformListener listener;

    ros::Rate rate(10.0);
    while(node.ok())
    {
        //获取turtle1与turtle2坐标系之间的tf数据
        tf::StampedTransform transform;
        try
        {
            listener.waitForTransform("/turtle2","/turtle1",ros::Time(0),ros::Duration(3.0));
            listener.lookupTransform("/turtle2","/turtle1",ros::Time(0),transform);
        }
        catch(tf::TransformException &ex)
        {
            ROS_ERROR("%s",ex.what());
            ros::Duration(1.0).sleep();
            continue;
        }

        //根据turtle1与turtle2坐标系之间的位置关系，发布turtle2的速度控制指令
        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;
}

====================

配置tf广播器与监听器代码编译规则

如何配置CMakeList.txt中的编译规则

• 设置需要编译的代码和生成的可执行文件
• 设置链接库

## Specify libraries to link a library or executable target against
# target_link_libraries(${PROJECT_NAME}_node
#    ${catkin_LIBRARIES}
# )
 
 
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_ws
catkin_make
source devel/setup.bash
roscore
rosrun turtlesim turtlesim_node
rosrun learning_tf turtle_tf_broadcaster __name:=turtle1_tf_broadcaster /turtle1
rosrun learning_tf turtle_tf_broadcaster __name:=turtle2_tf_broadcaster /turtle2
rosrun learning_tf turtle_tf_listener
rosrun turtlesim turtle_teleop_key