小乌龟跟随

turtle_tf_broadcaster.py文件

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

########################################################################
####          Copyright 2020 GuYueHome (www.guyuehome.com).          ###
########################################################################

# 该例程将请求/show_person服务，服务数据类型learning_service::Person

import roslib
roslib.load_manifest('learning_tf')
import rospy

import tf
import turtlesim.msg

def handle_turtle_pose(msg, turtlename):
    br = tf.TransformBroadcaster()
    br.sendTransform((msg.x, msg.y, 0),
                     tf.transformations.quaternion_from_euler(0, 0, msg.theta),
                     rospy.Time.now(),
                     turtlename,
                     "world")

if __name__ == '__main__':
    rospy.init_node('turtle_tf_broadcaster')
    turtlename = rospy.get_param('~turtle')
    rospy.Subscriber('/%s/pose' % turtlename,
                     turtlesim.msg.Pose,
                     handle_turtle_pose,
                     turtlename)
    rospy.spin()

turtle_tf_listener.py文件

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

########################################################################
####          Copyright 2020 GuYueHome (www.guyuehome.com).          ###
########################################################################

# 该例程将请求/show_person服务，服务数据类型learning_service::Person

import roslib
roslib.load_manifest('learning_tf')
import rospy
import math
import tf
import geometry_msgs.msg
import turtlesim.srv

if __name__ == '__main__':
    rospy.init_node('turtle_tf_listener')

    listener = tf.TransformListener()

    rospy.wait_for_service('spawn')
    spawner = rospy.ServiceProxy('spawn', turtlesim.srv.Spawn)
    spawner(4, 2, 0, 'turtle2')

    turtle_vel = rospy.Publisher('turtle2/cmd_vel', geometry_msgs.msg.Twist,queue_size=1)

    rate = rospy.Rate(10.0)
    while not rospy.is_shutdown():
        try:
            (trans,rot) = listener.lookupTransform('/turtle2', '/turtle1', rospy.Time(0))
        except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
            continue

        angular = 4 * math.atan2(trans[1], trans[0])
        linear = 0.5 * math.sqrt(trans[0] ** 2 + trans[1] ** 2)
        cmd = geometry_msgs.msg.Twist()
        cmd.linear.x = linear
        cmd.angular.z = angular
        turtle_vel.publish(cmd)

        rate.sleep()

start_tf_demo_py.launch文件

<launch>

	<!-- Turtlesim Node-->
	<node pkg="turtlesim" type="turtlesim_node" name="sim"/>
	<node pkg="turtlesim" type="turtle_teleop_key" name="teleop" output="screen"/>

	<node name="turtle1_tf_broadcaster" pkg="learning_tf" type="turtle_tf_broadcaster.py" respawn="false" output="screen" >
	  <param name="turtle" type="string" value="turtle1" />
	</node>
	<node name="turtle2_tf_broadcaster" pkg="learning_tf" type="turtle_tf_broadcaster.py" respawn="false" output="screen" >
	  <param name="turtle" type="string" value="turtle2" /> 
	</node>

    <node pkg="learning_tf" type="turtle_tf_listener.py" name="listener" />

</launch>

如果是c++文件，还需要在CMakeLists中添加：

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})