视频链接:bilibili 搜 古月居
源代码:关注古月居公众号,回复ROS入门21讲
1 TF坐标变换
实现方式:广播TF变换,监听TF变换
roslaunch用于启动launch文件,launch相当于一个多节点启动的脚本文件
1.1 常用工具
17讲11分
1.终端1 运行launch文件
roslaunch turtle_tf turtle_tf_demo.launch
2.终端2 控制小海龟
rosrun turtlesim turtle_teleop_key
3.1 终端3 可视化各个坐标系间关系,生成pdf文档显示tf tree
rosrun tf view_frames
3.2 获取任意两个坐标系间位置关系,给出两坐标系间平移和旋转数值
rosrun tf tf_echo tf_name1 tf_name2
3.3 三维直观显示坐标系间关系
rosrun rviz rviz -d 'rospack find turtle_tf' /rviz/turtle_rviz.rviz
# RVIZ工具中Fixed Frame选world
# 左下角点[Add]选择TF添加进来
2 tf坐标系广播与监听的编程实现
2.1 创建功能包
cd ~/catkin_ws/src
catkin_create_pkg learning_tf roscpp rospy tf turtlesim
2.2 创建tf广播器代码(C++)
/***********************************************************************
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 <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;
//设置平移
transform.setOrigin( tf::Vector3(msg->x, msg->y, 0.0) );
tf::Quaternion q;
q.setRPY(0, 0, msg->theta);
//设置旋转
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;
};
2.3 创建tf监听器代码(C++)
/***********************************************************************
Copyright 2020 GuYueHome (www.guyuehome.com).
***********************************************************************/
/**
* 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;
// service编程,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);
// topic编程,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;
};
2.4 编译与运行
添加cmake指令
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
catkin_make
运行
1. 终端1
roscore
2. 终端2
rosrun turtlesim turtlesim_node
3. 终端3,产生坐标系 /turtle1,获取 /turtle1和world坐标系间关系
rosrun learning_tf turtle_tf_broadcaster __name:=turtle1_tf_broadcaster /turtle1
__name:=turtle1_tf_broadcaster用于重映射到2.2中my_tf_broadcaster节点上,防止节点重名
4. 终端4,生坐标系 /turtle2,获取 /turtle2和world坐标系间关系
rosrun learning_tf turtle_tf_broadcaster __name:=turtle2_tf_broadcaster /turtle2
创建海龟2并且向海龟1运动
5. 终端5
rosrun learning_tf turtle_tf_listener
6. 终端6
rosrun turtlesim turtle_teleop_key