[ROS] 小乌龟跟随--学习笔记

  首先是使用到的依赖项：rospy、tf，可以手动在package.xml里添加，如果使用vscode创建功能包，则在填写依赖项时会帮我们补充完整

接下来是创建第一只小乌龟的并广播坐标系的py文件代码：

命名为demo01_turtle1

#! /usr/bin/env python
# coding: utf-8

import rospy
from turtlesim.msg import Pose
from tf.broadcaster import TransformBroadcaster
from tf.transformations import quaternion_from_euler


def pose_callback(msg):
    if not isinstance(msg, Pose):
        return

    x = msg.x
    y = msg.y
    theta = msg.theta

    translation = (x, y, 0)
    rotation = quaternion_from_euler(0, 0, theta)

    broadcaster.sendTransform(translation, rotation, rospy.Time().now(), "turtle1", "world")


if __name__ == '__main__':
    node_name = "demo01_turtle1"
    rospy.init_node(node_name)
    broadcaster = TransformBroadcaster()

    pose_topic_name = "/turtle1/pose"
    rospy.Subscriber(pose_topic_name, Pose, pose_callback)
    rospy.spin()

下面详细地解释每一行代码的作用：

import rospy                                               # 导入ROS库
from turtlesim.msg import Pose                             # 从msg文件里导入乌龟Pose消息
from tf.broadcaster import TransformBroadcaster            # 通过 TransformBroadcaster 类来发布变换关系的接口
from tf.transformations import quaternion_from_euler       # 导入欧拉角转化成四元数的函数

def pose_callback(msg):
    if not isinstance(msg, Pose):                              # 判断数据类型，数据不符合就退出函数
        return
    x = msg.x                                                  # 赋值，用于计算四元数和广播坐标系