ROS TF的基础,四元数、欧拉角理论见该篇文章,讲解非常详细
ROS之tf空间坐标变换完全详解_tf坐标变换_zhanghm1995的博客-CSDN博客
1.程序说明
本实例创建两个乌龟,乌龟1乌龟2,控制乌龟1随意移动,保证乌龟2实时跟随乌龟1。想要达到这个效果,程序设计思路为:
1)我们需要获取乌龟1的位姿信息,本程序只考虑x,y,以及欧拉角的偏航角(Yaw),将乌龟1的位姿变换到世界坐标系(tf变换),并发布乌龟1的位姿信息
2) 有了乌龟1的位姿信息,我们还需要创建乌龟2用于跟随乌龟1,为了让乌龟2跟随乌龟1,我们需要为乌龟2赋予线速度和角度,两者都可以通过简单的计算公式算出。
2.5 补充
创建工作空间,功能包,两个C++文件
$ source /opt/ros/kinetic/setup.zsh
$ mkdir -p ~/catkin_ws/src
$ cd ~/catkin_ws/src
$ catkin_init_workspace
$ cd ~/catkin_ws
$ catkin_make
$ source ~/catkiin_ws/devel/setup.zsh
$ cd ~/catkin_ws/src
$ catkin_create_pkg learning_tf roscpp geometry_msgs tf turtlesim
$ cd ~/catkin_ws
$ catkin_make
$ source devel/setup.zsh
在CmakeList.txt中添加一下内容(完成下面两个程序后添加),最后编译执行
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})
2.广播程序
创建程序turtle_tf_broadcaster.cpp,用于广播乌龟1的位姿
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <turtlesim/Pose.h>
std::string turtle_name;
void poseCallback(const turtlesim::PoseConstPtr& msg)
{
// tf广播器
static tf::TransformBroadcaster br;
// 根据乌龟当前的位姿,设置相对于世界坐标系的坐标变换
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);
// 发布坐标变换
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", turtle_name));
}
int main(int argc, char** argv)
{
// 初始化节点
ros::init(argc, argv, "my_tf_broadcaster");
if (argc != 2)
{
ROS_ERROR("need turtle name as argument");
return -1;
};
turtle_name = argv[1];
// 订阅乌龟的pose信息
ros::NodeHandle node;
ros::Subscriber sub = node.subscribe(turtle_name+"/pose", 10, &poseCallback);
ros::spin();
return 0;
};
程序分为两个函数,主函数main,与回调函数poseCallback
main:
判断传入参数是否有两个,由于要做跟随必须有两个刚体,参数不为2报错退出
if (argc != 2)
{
ROS_ERROR("need turtle name as argument");
return -1;
};
拿到第一个海龟的变量名(std::string turtle_name定义全局变量),也就是被跟随的一方,订阅海龟的pose信息,调用回调函数,频率为10hz。ros:spin()使程序不中止,持续订阅
turtle_name = argv[1];
// 订阅乌龟的pose信息
ros::NodeHandle node;
ros::Subscriber sub = node.subscribe(turtle_name+"/pose", 10, &poseCallback);ros::spin();
poseCallback(const turtlesim::PoseConstPtr& msg)
tf::TransformBroadcaster创建tf广播对象,用于发布海龟的位姿
transform.setOrigin设置被跟随海龟的初始位姿,传入参数tf::Vector3,即海龟在当前空间坐标系的坐标信息,由于这里只考虑2维坐标,所以z赋0。
tf::Quaternion设置海龟的欧拉角RPY,因为只考虑xy,所以只需要设置欧拉角的Y轴(Yaw),你站在一个平面原地转一圈,就是绕Y轴旋转一周,比较好理解,我们通过实参msg来获取theta向量角
tf::StampedTransform传四个参数,transform位姿,现在时间,父坐标系,子坐标系
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));
}
补充:
欧拉角参考图
tf::Transform官方文档:tf: tf::Transform Class Reference
tf::Quaternion官方文档:tf: tf::Quaternion Class Reference
tf::StampedTransform:tf: tf::StampedTransform Class Reference
3.监听程序
创建程序turtle_tf_listener.cpp用于监听乌龟1的位姿,并发布线速度与角度
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/Twist.h>
#include <turtlesim/Spawn.h>
int main(int argc, char** argv)
{
// 初始化节点
ros::init(argc, argv, "my_tf_listener");
ros::NodeHandle node;
// 通过服务调用,产生第二只乌龟turtle2
ros::service::waitForService("spawn");
ros::ServiceClient add_turtle =
node.serviceClient<turtlesim::Spawn>("spawn");
turtlesim::Spawn srv;
add_turtle.call(srv);
// 定义turtle2的速度控制发布器
ros::Publisher turtle_vel =
node.advertise<geometry_msgs::Twist>("turtle2/cmd_vel", 10);
// tf监听器
tf::TransformListener listener;
ros::Rate rate(10.0);
while (node.ok())
{
tf::StampedTransform transform;
try
{
// 查找turtle2与turtle1的坐标变换
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和turtle2之间的坐标变换,计算turtle2需要运动的线速度和角速度
// 并发布速度控制指令,使turtle2向turtle1移动
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;
};
代码解读
ros::service命名空间同样提供一些便利的函数如:exists() 和waitForService(),ros::service::waitForService("spawn")等待名为spawn的server端创建
serviceClient<turtlesim::Spawn>("spawn")创建client端对象,订阅server名为spawn的Service
turtlesim::Spawn srv;add_turtle.call(srv);上两句仅创建Service,并没有实际的Spawn对象,此处创建,通过call声明Spawn
ros::service::waitForService("spawn");
ros::ServiceClient add_turtle = node.serviceClient<turtlesim::Spawn>("spawn");
turtlesim::Spawn srv;
add_turtle.call(srv);
node.advertise<geometry_msgs::Twist>("turtle2/cmd_vel", 10);定义话题名为turtle2的速度控制发布器,频率10hz,tf::TransformListener listener;定义tf监听器,监听第一只乌龟,也就是被跟随乌龟的位姿信息, ros::Rate rate(10.0);定义话题发布频率10hz
// 定义turtle2的速度控制发布器
ros::Publisher turtle_vel =
node.advertise<geometry_msgs::Twist>("turtle2/cmd_vel", 10);// tf监听器
tf::TransformListener listener;ros::Rate rate(10.0);
node非异常中断则持续监听
while (node.ok())
{
...
}
通过监听器监听被跟随海龟的坐标变化,listener.waitForTransform("/turtle2", "/turtle1", ros::Time(0), ros::Duration(3.0));参数依次为海龟2(跟随者),海龟1(被跟随者),时间间隔0(变化后马上响应),持续监听时间3s。
得到乌龟2到乌龟1的坐标变换,listener.lookupTransform("/turtle2", "/turtle1", ros::Time(0), transform);
tf::StampedTransform transform;
try
{
// 查找turtle2与turtle1的坐标变换
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;
}
t2到t1的线速度公式为:
t2.linear.x=速度系数*sqrt(t1.x²+t2.y²),线速度等于原点指向(x,y)的模,0.5为速度系数,为1则等于被跟随乌龟的速度,这里设为0.5,使其只有被跟随乌龟一半的速度,当然设置多少取决于你。
角速度计算公式:
t2.angular.z=角度系数*atan2(y/x),atan2用于计算方位角,值域是-π到π
// 根据turtle1和turtle2之间的坐标变换,计算turtle2需要运动的线速度和角速度
// 并发布速度控制指令,使turtle2向turtle1移动
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();
4.roslauch
创建lauch目录,创建start_demo_with_listener.launch文件
<launch>
<!-- 海龟仿真器 -->
<node pkg="turtlesim" type="turtlesim_node" name="sim"/>
<!-- 键盘控制 -->
<node pkg="turtlesim" type="turtle_teleop_key" name="teleop" output="screen"/>
<!-- 两只海龟的tf广播 -->
<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" />
<!-- 监听tf广播,并且控制turtle2移动 -->
<node pkg="learning_tf" type="turtle_tf_listener"
name="listener" />
</launch>
运行roslauch文件
roslaunch learning_tf start_demo_with_listener.launch
角度系数分析
关于角度系数为何取4,可以观察一下取不同值的效果,从视觉上可以看出,角度系数越小,乌龟2到乌龟1的曲线就越弯曲,这也很好理解,我们开车的时候遇到急的弯就需要打多方向。
角度系数为4
角度系数为8