int main(int argc, char **argv)
{
ros::init(argc, argv, "Odom"); //初始化一个节点
ros::NodeHandle n;
cm.canOpenCom(); //驱动协议用的是canopen
cm.Power(2, true); //启动左电机
cm.Power(1, true); //启动右电机
ros::Publisher odom_pub = n.advertise<nav_msgs::Odometry>("odom", 50); //发布odom话题
ros::Duration(1.0).sleep(); //等待话题发布完成
tf::TransformBroadcaster odom_broadcaster;
// base_footprint与odom坐标系的偏差
double x = 0.0;
double y = 0.0;
double th = 0.0;
u_int32_t right_pulse = QueryCan(1, 0x60630020, &cm); //读取编码器
u_int32_t last_right_pulse = QueryCan(1, 0x60630020, &cm); //读取编码器
u_int32_t left_pulse = QueryCan(2, 0x60630020, &cm); //读取编码器
u_int32_t last_left_pulse = QueryCan(2, 0x60630020, &cm); //读取编码器
double radius = 0.075; //轮子的半径
double wheel_track = 0.588; //两轮之间的距离
ros::Time current_time, last_time;
current_time = ros::Time::now();
last_time = ros::Time::now();
ros::Rate r(20); //发布频率
while (n.ok())
{
ros::spinOnce(); // check for incoming messages
current_time = ros::Time::now();
double ctime = current_time.toSec();
double dt = (current_time - last_time).toSec();
right_pulse = QueryCan(1, 0x60630020, &cm); //读取编码器
left_pulse = QueryCan(2, 0x60630020, &cm); //读取编码器
int32_t delta_right_pulse = (int32_t)right_pulse - (int32_t)last_right_pulse;
int32_t delta_left_pulse = (int32_t)left_pulse - (int32_t)last_left_pulse;
double dright = ((double)delta_right_pulse / 10000) * 2 * pi * radius; //右轮单位时间内走的距离 10000脉冲为一圈
double dleft = ((double)delta_left_pulse / 10000) * 2 * pi * radius; //左轮单位时间内走的距离
last_right_pulse = right_pulse;
last_left_pulse = left_pulse;
double dxy_ave = (dright + dleft) / 2; //中心点移动距离
double dth = (dright - dleft) / wheel_track; //中心点转动角度
double vxy = dxy_ave / dt; //线速度
double vth = dth / dt; //角速度
double delta_x = dxy_ave * cos(th + (dth / 2.0));
double delta_y = dxy_ave * sin(th + (dth / 2.0));
double delta_th = dth;
x += delta_x; // base_footprint与odom坐标系的偏差
y += delta_y;
th += delta_th;
geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(th); //转换成四元数
geometry_msgs::TransformStamped odom_trans;
odom_trans.header.stamp = current_time;
odom_trans.header.frame_id = "odom";
odom_trans.child_frame_id = "base_footprint";
odom_trans.transform.translation.x = x;
odom_trans.transform.translation.y = y;
odom_trans.transform.translation.z = 0.0;
odom_trans.transform.rotation = odom_quat;
odom_broadcaster.sendTransform(odom_trans); //发布odom和base_footprint的tf数
nav_msgs::Odometry odom;
odom.header.stamp = current_time;
odom.header.frame_id = "odom";
odom.pose.pose.position.x = x;
odom.pose.pose.position.y = y;
odom.pose.pose.position.z = 0.0;
odom.pose.pose.orientation = odom_quat;
odom.child_frame_id = "base_footprint";
odom.twist.twist.linear.x = vxy; //两轮差动小车只有线速度x
odom.twist.twist.linear.y = 0;
odom.twist.twist.angular.z = vth;
odom_pub.publish(odom); //发布odom数据
last_time = current_time;
r.sleep();
}
ros::spin();
return 0;
}
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