ROS学习(Intermediate Level 4): Writing a tf broadcaster (C++)

cd src/
catkin_create_pkg learning_tf tf roscpp rospy turtlesim
catkin_make

source ./devel/setup.bash

// /home/fengxuewei/C++_myself/tutorial_ws/src/learning_tf/src/turtle_tf_broadcaster.cpp
#include <ros/ros.h>
// to help make the task of publishing transforms easier.
#include <tf/transform_broadcaster.h>
#include <turtlesim/Pose.h>

std::string turtle_name;



void poseCallback(const turtlesim::PoseConstPtr& msg){

    // we create a TransformBroadcaster object that we'll use later to send the transformations over the wire.
    static tf::TransformBroadcaster br;

    // we create a Transform object, and copy the information from the 2D turtle pose into the 3D transform.
    tf::Transform transform;

    // copy the information from the 2D turtle pose into the 3D transform
    transform.setOrigin( tf::Vector3(msg->x, msg->y, 0.0) );
    tf::Quaternion q;
    q.setRPY(0, 0, msg->theta);


    transform.setRotation(q);
    // Sending a transform with a TransformBroadcaster requires four arguments.
    // First, we pass in the transform itself.
    // Now we need to give the transform being published a timestamp, we'll just stamp it with the current time, ros::Time::now().
    // Then, we need to pass the name of the parent frame of the link we're creating, in this case "world"
    // Finally, we need to pass the name of the child frame of the link we're creating, in this case this is the name of the turtle itself.
    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;
};

#include <ros/ros.h>

// to help make the task of receiving transforms easier.
#include <tf/transform_listener.h>
// #include <turtlesim/Velocity.h> is replaced by <geometry_msgs/Twist.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;
}

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})