1 TransformBroadcaster类
- tf包提供了TransformBroadcaster类的实现,以帮助简化tf发布转换的任务。
- 要使用TransformBroadcaster,我们需要包含<tf/transform_Broadcaster.h>头文件。
如下是发布一个world-turtle1的一个坐标变换,来具体看TransformBroadcaster类的用法:
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <turtlesim/Pose.h>
std::string turtle_name;
void poseCallback(const turtlesim::PoseConstPtr& msg){
// 1. 创建一个tf发布对象
static tf::TransformBroadcaster br;
// 2. 创建一个tf对象
tf::Transform transform;
// 3. 设置tf的平移旋转,(把小龟的2d位姿复制到3d变换)
transform.setOrigin( tf::Vector3(msg->x, msg->y, 0.0) );
tf::Quaternion q;
q.setRPY(0, 0, msg->theta);
transform.setRotation(q);
// 4. 发布tf变换
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", turtle_name));
}
int main(int argc, char** argv){
ros::init(argc, argv, "turtle_tf_broadcaster");
if (argc != 2)
{ROS_ERROR("need turtle name as argument"); return -1; };
turtle_name = argv[1];
ros::NodeHandle node;
ros::Subscriber sub = node.subscribe(turtle_name+"/pose", 10, &poseCallback);
ros::spin();
return 0;
};
2 运行发布
-
程序依赖/turtle_pose话题,启动一个turtlesim后再运行此程序,结果如下.
-
显示tf树
rosrun rqt_tf_tree rqt_tf_tree -
输出两个坐标系的tf
rosrun tf tf_echo /co1 /co2