ROS学习笔记-TF坐标系管理系统的学习

开辟新的工作空间

mkdir -p learn_ros/src
cd learn_ros/src 

创建相应的功能包

catkin_create_pkg learning_tf geometry_msgs roscpp tf turtlesim

编写一个tf坐标系的发布节点，发布turtlr在世界坐标系的位姿信息

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <turtlesim/Pose.h>

std::string turtle_name;
void posecallback(const turtlesim::PoseConstPtr &   msg)
{
    static tf::TransformBroadcaster br;
    tf::Transform transform;
    transform.setOrigin(tf::Vector3(msg->x,msg->y,0));
    tf::Quaternion q;
    q.setRPY(0,0,msg->theta);
    transform.setRotation(q);
    br.sendTransform(tf::StampedTransform(transform,ros::Time::now(),"world",turtle_name));
}
int main(int argc, char**argv)
{
    ros::init(argc,argv,"turtle_tf");
    if(argc!=2)
    {
        ROS_ERROR("name of the turtle is needed");
        return -1;
    }
    turtle_name=argv[1];
    ros::NodeHandle n;
    ros::Subscriber sub =n.subscribe(turtle_name+"/pose",10,&posecallback);
    //函数名前加&表示返回值为引用
    ros::spin();
    //阻塞轮询，程序会停在这个点上直到接收到消息。为同步机制。
}

编写一个tf_listener程序，生成turtle2，并利用监听得到的坐标系转化使turtle2追踪turtle1

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/Twist.h>
#include <turtlesim/Spawn.h>

int main(int argc,char **argv)
{
    ros::init(argc,argv,"tf_listener");
    ros::NodeHandle n;
    ros::service::waitForService("spawn");
    ros::ServiceClient add_turtle=n.serviceClient<turtlesim::Spawn>("spawn");
    turtlesim::Spawn srv;
    add_turtle.call(srv);
    ros::Publisher vel_pub=n.advertise<geometry_msgs::Twist>("turtle2/cmd_vel",10);
    tf::TransformListener listener;
    ros::Rate rate(10.0);
    while(n.ok())
    {
        tf::StampedTransform  transform;
        try
        {
            listener.waitForTransform("/turtle2", "/turtle1", ros::Time(0), ros::Duration(3.0));
            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));
        vel_pub.publish(vel_msg);
        rate.sleep();
    }
    return 0;
}

在cmakelist中添加可执行程序，并与库链接。

add_executable(turtle_tf_broadcaster src/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})

进行catkin_make
在功能包内创建launch文件夹，并创建launch文件。

<launch>
    <!-- 海龟仿真器 -->
    <node pkg="turtlesim" type="turtlesim_node" name="sim"/>

    <!-- 键盘控制 -->
    <node pkg="turtlesim" type="turtle_teleop_key" name="teleop" output="screen"/>

    <!-- 两只海龟的tf广播 -->
    <node pkg="learning_tf" type="turtle_tf_broadcaster"
          args="/turtle1" name="turtle1_tf_broadcaster" />
    <node pkg="learning_tf" type="turtle_tf_broadcaster"
          args="/turtle2" name="turtle2_tf_broadcaster" />

    <!-- 监听tf广播，并且控制turtle2移动 -->
    <node pkg="learning_tf" type="turtle_tf_listener"
          name="listener" />

 </launch>

运行launch文件

source devel/setup.bash 
roslaunch learning_tf start_demo_with_listener.launch 

运行结果如下：

使用rviz订阅tf来对坐标系可视化

rviz

将fixed frame改为world
依次添加三个坐标系和tf，完成可视化