4.learningTF

安装一个小实例

rosdep install turtle_tf rviz  
rosmake turtle_tf rviz  
roslaunch turtle_tf turtle_tf_demo.launch 
//打开一个新终端
rosrun tf view_frames  
/*可以看到参考系之间的联系。三个节点分别是三个参考系，而/world是其他两个乌龟参考系的父参考系。还包含一些调试需要的发送频率、最近时间等信息。*/

/*tf还提供了一个tf_echo工具来查看两个广播参考系之间的关系。我们可以看一下第二只得乌龟坐标是怎么根据第一只乌龟得出来的。*/
rosrun tf tf_echo turtle1 turtle2  
//通过图形观察
rosrun rviz rviz -d `rospack find turtle_tf`/rviz/tule_rviz.rviz‘

CPP写一个broadcaster

/*turtle_tf_broadcaster.cpp*/
#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, 0.0) );
  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, "my_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;
};

还要修改CMakeList.txt

add_executable(turtle_tf_broadcaster src/turtle_tf_broadcaster.cpp)
target_link_libraries(turtle_tf_broadcaster ${catkin_LIBRARIES})

编写launch文件
start_demo.launch

  <launch>
    <!-- Turtlesim Node-->
    <node pkg="turtlesim" type="turtlesim_node" name="sim"/>

    <node pkg="turtlesim" type="turtle_teleop_key" name="teleop" output="screen"/>
    <!-- Axes -->
    <param name="scale_linear" value="2" type="double"/>
    <param name="scale_angular" value="2" type="double"/>

    <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" />

  </launch>

接下来就可以运行了。

CPP写一个TF_listener

/*turtle_tf_listener.cpp*/
#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, "my_tf_listener");

  ros::NodeHandle node;

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

  ros::Publisher turtle_vel =
    node.advertise<geometry_msgs::Twist>("turtle2/cmd_vel", 10);

  tf::TransformListener listener;

  ros::Rate rate(10.0);
  while (node.ok()){
    tf::StampedTransform transform;
    try{
      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));
    turtle_vel.publish(vel_msg);

    rate.sleep();
  }
  return 0;
};
/*
    在launch文件中添加  
    <node pkg="learning_tf" type="turtle_tf_listener"
        name="listener" />
*/

添加frame

在很多应用中，添加一个参考系是很有必要的，比如在一个world参考系下，有一个激光扫描节点，tf可以帮助我们将激光扫描的信息坐标装换成全局坐标。

tf消息结构

tf中的信息是一个树状的结构，world参考系是最顶端的父参考系，其他的参考系都需要向下延伸。如果我们在上文的基础上添加一个参考系，就需要让这个新的参考系成为已有三个参考系中的一个的子参考系。

建立固定参考系

以turtle1作为父参考系，建立一个新的参考系“carrot1”

/*frame_tf_broadcaster.cpp*/
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "my_tf_broadcaster");
  ros::NodeHandle node;

  tf::TransformBroadcaster br;
  tf::Transform transform;

  ros::Rate rate(10.0);
  while (node.ok()){
    transform.setOrigin( tf::Vector3(0.0, 2.0, 0.0) );
    transform.setRotation( tf::Quaternion(0, 0, 0, 1) );
    br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "turtle1", "carrot1"));
    rate.sleep();
  }
  return 0;
};
/*修改CMakeList.txt
add_executable(frame_tf_broadcaster src/frame_tf_broadcaster.cpp)
target_link_libraries(frame_tf_broadcaster ${catkin_LIBRARIES})
*/
/*修改launch文件
  <node pkg="learning_tf" type="frame_tf_broadcaster"
        name="broadcaster_frame" />
*/

修改turtle_tf_listener.cpp文件

listener.lookupTransform("/turtle2", "/turtle1",
                               ros::Time(0), transform);
//改为
listener.lookupTransform("/turtle2", "/carrot1",
                         ros::Time(0), transform);