运动规划学习笔记5——ROS包_tf2

在这里分享了运动规划方面的一些基本的算法原理和伪代码实现，其中内容可能存在不完善和错误之处，如有读者发现，欢迎批评指正。

1、坐标系

1. 一个机器人拥有多个坐标系，这些坐标系在tf2中构成坐标树，tf2通过坐标树维护多个坐标系之间的坐标变换。
2. ROS坐标系为右手坐标系，前X、左Y、上Z。
3. 两坐标系之间关系用6自由度相对位姿表示，tf2中由tf2::Vector3和tf2::Quaternion表示。
4. 查看坐标树

# 方法一：view_frames工具
rosrun tf view_frames 
# 方法二：rqt
rosrun rqt_tf_tree rqt_tf_tree
# ros2
sudo apt install ros-foxy-tf2-tools
ros2 run tf2_tools view_frames.py

5. 查看坐标转换关系

# 变换关系
rosrun tf tf_echo /world /turtle1

6. 查看坐标转换时间延迟

# 时间延迟
rosrun tf tf_monitor /world /turtle1

2、坐标变换

2.1、坐标变换

1. 坐标变换库：tf2_ros，http://docs.ros.org/en/jade/api/tf2_ros/html/c++/namespacetf2__ros.html。
2. 坐标转换消息类型：geometry_msgs/TransformStamped，包括父坐标系、子坐标系、转换关系

std_msgs/Header header
  uint32 seq
  time stamp
  string frame_id
string child_frame_id
geometry_msgs/Transform transform
  geometry_msgs/Vector3 translation
    float64 x
    float64 y
    float64 z
  geometry_msgs/Quaternion rotation
    float64 x
    float64 y
    float64 z
    float64 w

2.2、广播坐标变换

1. 广播坐标转换的两种情况

广播静态坐标转换
	广播器：tf2_ros::StaticTransformBroadcaster
	广播方法：tf2_ros::StaticTransformBroadcaster::sendTransform(geometry_msgs/TransformStamped)
广播动态坐标转换
	广播器：tf2_ros::TransformBroadcaster
	广播方法：tf2_ros::TransformBroadcaster::sendTransform(geometry_msgs/TransformStamped)
广播方法：
	1、发送一个TransformStamped消息
	void sendTransform (const geometry_msgs::TransformStamped &transform)
	2、发送一组TransformStamped消息
	void sendTransform (const std::vector< geometry_msgs::TransformStamped > &transforms)

2. 广播静态坐标转换

	static tf2_ros::StaticTransformBroadcaster static_br;
	geometry_msgs::TransformStamped static_tfStamped;

	static_tfStamped.header.stamp = ros::Time::now();
	static_tfStamped.header.frame_id = "parent_frame";
	static_tfStamped.child_frame_id = "child_frame";
	static_tfStamped.transform.translation.x = atof(x);
	static_tfStamped.transform.translation.y = atof(y);
	static_tfStamped.transform.translation.z = atof(z);
	
	tf2::Quaternion quat;
	quat.setRPY(atof(wx), atof(wy), atof(wz);
	static_tfStamped.transform.rotation.x = quat.x();
	static_tfStamped.transform.rotation.y = quat.y();
	static_tfStamped.transform.rotation.z = quat.z();
	static_tfStamped.transform.rotation.w = quat.w();
	
	static_br.sendTransform(static_tfStamped);

3. 广播动态坐标转换

void callback(const xxx& msg)
{
	 static tf2_ros::TransformBroadcaster br;
	 geometry_msgs::TransformStamped tfStamped;
	 
	 tfStamped.header.stamp = ros::Time::now();
	 tfStamped.header.frame_id = "parent_frame";
	 tfStamped.child_frame_id = "child_frame";
	 tfStamped.transform.translation.x = msg->x;
	 tfStamped.transform.translation.y = msg->y;
	 tfStamped.transform.translation.z = msg->z;
	 
	 tf2::Quaternion q;
	 q.setRPY(msg->wx, msg->wy, msg->wz);
	 tfStamped.transform.rotation.x = q.x();
	 tfStamped.transform.rotation.y = q.y();
	 tfStamped.transform.rotation.z = q.z();
	 tfStamped.transform.rotation.w = q.w();
	
	 br.sendTransform(tfStamped);
}

2.3、监听坐标转换

1. 监听坐标转换

监听坐标转换
	监听器：tf2_ros::TransformListener
监听缓存设置
	缓存器：tf2_ros::Buffer	默认10s缓存
监听方法
	geometry_msgs::TransformStamped 	lookupTransform (const std::string &target_frame, const std::string &source_frame, const ros::Time &time, const ros::Duration timeout) const

	#include <tf2_ros/transform_listener.h>
	 
	tf2_ros::Buffer tfBuffer;
	tf2_ros::TransformListener tfListener(tfBuffer);

	try
	{
		transformStamped = tfBuffer.lookupTransform("turtle2", "turtle1",ros::Time(0));
	}
	catch (tf2::TransformException &ex) 
	{
		ROS_WARN("%s",ex.what());
		ros::Duration(1.0).sleep();
		continue;
	}

3、问题

/usr/bin/env: “python”: 没有那个文件或目录

1. 背景

ubuntu20.04
roslaunch turtle_tf turtle_tf_demo.launch

2. 解决

sudo update-alternatives --install /usr/bin/python python /usr/bin/python3 1000

TypeError: cannot use a string pattern on a bytes-like object

https://blog.csdn.net/xiaowang_tongxue/article/details/108298544

1. 问题

Listening to /tf for 5.0 seconds
Done Listening
b'dot - graphviz version 2.43.0 (0)\n'
Traceback (most recent call last):
  File "/opt/ros/noetic/lib/tf/view_frames", line 119, in <module>
    generate(dot_graph)
  File "/opt/ros/noetic/lib/tf/view_frames", line 89, in generate
    m = r.search(vstr)
TypeError: cannot use a string pattern on a bytes-like object

2. 解决

sudo gedit /opt/ros/noetic/lib/tf/view_frames

 88       print(vstr)
          vstr=str(vstr)  //加入这个...
 89       m = r.search(vstr)