roser@ubuntu:/opt/ros/melodic/lib/turtle_tf$ rosmsg show geometry_msgs/Twist
geometry_msgs/Vector3 linear
float64 x
float64 y
float64 z
geometry_msgs/Vector3 angular
float64 x
float64 y
float64 z
msg.linear.x = linear # TODO: 为什么只赋予给x轴线速度,该线速度表示前行,y则表示乌龟横向移动。如图所示。
roser@ubuntu:/opt/ros/melodic/lib/turtle_tf$ rosmsg show turtlesim/Pose
float32 x
float32 y
float32 theta
float32 linear_velocity
float32 angular_velocity
geometry_msgs/Twist的数据结构为:
geometry_msgs/Vector3 linear
float64 x
float64 y
float64 z
geometry_msgs/Vector3 angular
float64 x
float64 y
float64 z
tf2_msgs/TFMessage 的数据结构为:
geometry_msgs/TransformStamped[] transforms
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
rosgraph_msgs/Log 的数据结构为:
byte DEBUG=1
byte INFO=2
byte WARN=4
byte ERROR=8
byte FATAL=16
std_msgs/Header header
uint32 seq
time stamp
string frame_id
byte level
string name
string msg
string file
string function
uint32 line
string[] topics
这里服务的内容不过多介绍,通过rossrv show 和rosservice info可以查看内容。比如:
roser@ubuntu:/opt/ros/melodic/lib/turtle_tf$ rosservice type /turtle2/teleport_absolute
turtlesim/TeleportAbsolute
roser@ubuntu:/opt/ros/melodic/lib/turtle_tf$ rossrv show turtlesim/TeleportAbsolute
float32 x
float32 y
float32 theta
---
roser@ubuntu:/opt/ros/melodic/lib/turtle_tf$ rosservice info /turtle2/teleport_absolute
Node:/sim
URI: rosrpc://ubuntu:39859
Type: turtlesim/TeleportAbsolute
Args: x y theta
3. TF坐标转换
TF树结构是以世界坐标系作为根节点。rosrun tf view_frames
查询两个坐标系之间的变换关系 rosrun tf tf_echo
roser@ubuntu:~/Documents/catkin_ws$ rosrun tf tf_echo turtle1 turtle2
At time 1665302020.047- Translation:[0.000,0.000,0.000]- Rotation: in Quaternion [0.000,0.000,1.000,-0.006]
in RPY(radian)[0.000,0.000,-3.129]
in RPY(degree)[0.000,0.000,-179.305]
roser@ubuntu:~/Documents/catkin_ws$ rosrun tf tf_echo turtle2 turtle1
At time 1665302083.392- Translation:[0.000,0.000,0.000]- Rotation: in Quaternion [0.000,0.000,1.000,0.006]
in RPY(radian)[0.000,-0.000,3.129]
in RPY(degree)[0.000,-0.000,179.305]