古月居ROS21讲入门(18)TF坐标系广播与监听的编程实现

创建 learning_tf 功能包

cd ~/catkin_ws/src
catkin_create_pkg learning_tf roscpp rospy tf turtlesim

TF广播器的实现

• 定义TF广播器（Transform Broadcaster）
• 创建坐标变换值
• 发布坐标变换（sendTransform）

learning_tf_broadcaster.cpp

/*
 *   产生tf数据，并计算、发布turtle2的速度指令
 */

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

std::string turtle_name;

void poseCallback(const turtlesim::PoseConstPtr &msg) {
  //创建tf的广播器
  static tf::TransformBroadcaster br;

  //初始化tf数据
  tf::Transform transform;
  transform.setOrigin(tf::Vector3(msg->x, msg->y, 0.0));
  tf::Quaternion q;
  q.setRPY(0, 0, msg->theta);
  transform.setRotation(q);

  //广播world与海龟坐标系之间的tf数据
  br.sendTransform(
      tf::StampedTransform(transform, ros::Time::now(), "world", turtle_name));
}

int main(int argc, char *argv[]) {
  //初始化ROS节点
  ros::init(argc, argv, "my_tf_broadcaster");
  
  //输入参数作为海龟的名字
  if (argc != 2) {
    ROS_ERROR("need turtle name as argument");
    return -1;
  }

  turtle_name = argv[1];

  //订阅海龟的位姿话题
  ros::NodeHandle node;
  ros::Subscriber sub = node.subscribe(turtle_name + "/pose", 10, &poseCallback);

  //循环等待回调函数
  ros::spin();

  return 0;
}

TF监听器的实现

• 定义TF监听器（TransformListener）
• 查找坐标变换（waitForTransform, lookupTransform）

learning_tf_listener.cpp

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

int main(int argc, char *argv[]) {
  //初始化ROS节点
  ros::init(argc, argv, "my_tf_listener");

  //创建节点句柄
  ros::NodeHandle node;

  //请求产生turtle2
  ros::service::waitForService("/spawn");
  ros::ServiceClient add_turtle =
      node.serviceClient<turtlesim::Spawn>("/spawn");
  turtlesim::Spawn srv;
  add_turtle.call(srv);

  //创建发布turtle2速度控制指令的发布者
  ros::Publisher turtle_vel =
      node.advertise<geometry_msgs::Twist>("/turtle2/cmd_vel", 10);

  //创建tf的监视器
  tf::TransformListener listener;

  ros::Rate rate(10.0);
  while (node.ok()) {
    //获取turtle1与turtle2坐标系之间的tf数据
    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;
    }

    //根据turtle1与turtle2坐标系之间的位置关系，发布turtle2的速度控制指令
    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().x(), 2));
    turtle_vel.publish(vel_msg);

    rate.sleep();
  }
  return 0;
}

配置CMakeLists.txt中的编译规则

• 设置需要编译的代码和生成的可执行文件
• 设置链接库

向CMakeLists.txt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})

编译执行

• 注意在工作空间下编译以及添加source

终端1：

cd ~/catkin_ws
catkin_make
source devel/setup.bash
roscore

终端2：

rosrun turtlesim turtlesim_node

终端3：

rosrun learning_tf turtle_tf_broadcaster __name:=turtle1_tf_broadcaster /turtle1

终端4：

rosrun learning_tf turtle_tf_broadcaster __name:=turtle2_tf_broadcaster /turtle2

终端5：

rosrun learning_tf turtle_tf_listener

• 运行完成后会发现多了一只海龟并且向第一只海龟位置靠近

终端6：

rosrun turtlesim turtle_teleop_key

• 通过键盘控制第一只海龟运动，观察跟踪效果