LOAM_velodyne学习（四）

 

TransformMaintenance

来到了最后一个模块，代码不是很长，我们在看完代码之后，再详细说明这个模块的功能

依然主函数开始

int main(int argc, char** argv) { ros::init(argc, argv, "transformMaintenance"); ros::NodeHandle nh; //订阅了两个节点 ros::Subscriber subLaserOdometry = nh.subscribe<nav_msgs::Odometry> ("/laser_odom_to_init", 5, laserOdometryHandler); ros::Subscriber subOdomAftMapped = nh.subscribe<nav_msgs::Odometry> ("/aft_mapped_to_init", 5, odomAftMappedHandler); //发布一个节点 ros::Publisher pubLaserOdometry2 = nh.advertise<nav_msgs::Odometry> ("/integrated_to_init", 5); pubLaserOdometry2Pointer = &pubLaserOdometry2; laserOdometry2.header.frame_id = "/camera_init"; laserOdometry2.child_frame_id = "/camera"; tf::TransformBroadcaster tfBroadcaster2; tfBroadcaster2Pointer = &tfBroadcaster2; laserOdometryTrans2.frame_id_ = "/camera_init"; laserOdometryTrans2.child_frame_id_ = "/camera"; ros::spin(); return 0; }

主函数非常简单，可以看出integrated_to_init消息是由发布器pubLaserOdometry2发布的，实际上就是由发布器pubLaserOdometry2Pointer发布的。我们找到pubLaserOdometry2Pointer，发现回调函数laserOdometryHandler就是pubLaserOdometry2Pointer的发布函数，这意味着，发现每次接收到laser_odom_to_init消息并调用回调函数laserOdometryHandler时，就发布一次integrated_to_init消息。

看来重点是这个回调函数laserOdometryHandler，我们来仔细看看

void laserOdometryHandler(const nav_msgs::Odometry::ConstPtr& laserOdometry) { double roll, pitch, yaw; //对收到的消息进行解析，得到transformSum geometry_msgs::Quaternion geoQuat = laserOdometry->pose.pose.orientation; tf::Matrix3x3(tf::Quaternion(geoQuat.z, -geoQuat.x, -geoQuat.y, geoQuat.w)).getRPY(roll, pitch, yaw); transformSum[0] = -pitch; transformSum[1] = -yaw; transformSum[2] = roll; transformSum[3] = laserOdometry->pose.pose.position.x; transformSum[4] = laserOdometry->pose.pose.position.y; transformSum[5] = laserOdometry->pose.pose.position.z; //位姿更新 transformAssociateToMap(); //位姿信息进行存储，准备发布 geoQuat = tf::createQuaternionMsgFromRollPitchYaw (transformMapped[2], -transformMapped[0], -transformMapped[1]); laserOdometry2.header.stamp = laserOdometry->header.stamp; laserOdometry2.pose.pose.orientation.x = -geoQuat.y; laserOdometry2.pose.pose.orientation.y = -geoQuat.z; laserOdometry2.pose.pose.orientation.z = geoQuat.x; laserOdometry2.pose.pose.orientation.w = geoQuat.w; laserOdometry2.pose.pose.position.x = transformMapped[3]; laserOdometry2.pose.pose.position.y = transformMapped[4]; laserOdometry2.pose.pose.position.z = transformMapped[5]; pubLaserOdometry2Pointer->publish(laserOdometry2); laserOdometryTrans2.stamp_ = laserOdometry->header.stamp; laserOdometryTrans2.setRotation(tf::Quaternion(-geoQuat.y, -geoQuat.z, geoQuat.x, geoQuat.w)); laserOdometryTrans2.setOrigin(tf::Vector3(transformMapped[3], transformMapped[4], transformMapped[5])); tfBroadcaster2Pointer->sendTransform(laserOdometryTrans2); }

但是，这里还是有个小坑的。这个节点接收了两个消息，分别是laserOdometry节点和laserMapping节点发布的，而这两个节点发布的频率不同，那么是怎么处理的呢？

我们仔细看一看剩下的一个回调函数

void odomAftMappedHandler(const nav_msgs::Odometry::ConstPtr& odomAftMapped) { double roll, pitch, yaw; geometry_msgs::Quaternion geoQuat = odomAftMapped->pose.pose.orientation; tf::Matrix3x3(tf::Quaternion(geoQuat.z, -geoQuat.x, -geoQuat.y, geoQuat.w)).getRPY(roll, pitch, yaw); transformAftMapped[0] = -pitch; transformAftMapped[1] = -yaw; transformAftMapped[2] = roll; transformAftMapped[3] = odomAftMapped->pose.pose.position.x; transformAftMapped[4] = odomAftMapped->pose.pose.position.y; transformAftMapped[5] = odomAftMapped->pose.pose.position.z; transformBefMapped[0] = odomAftMapped->twist.twist.angular.x; transformBefMapped[1] = odomAftMapped->twist.twist.angular.y; transformBefMapped[2] = odomAftMapped->twist.twist.angular.z; transformBefMapped[3] = odomAftMapped->twist.twist.linear.x; transformBefMapped[4] = odomAftMapped->twist.twist.linear.y; transformBefMapped[5] = odomAftMapped->twist.twist.linear.z; }

也是很简单的解析函数，作用是在接收到了laserMapping的消息后，更新位姿，这里注意，laserMapping发布的是优化过后的位姿!看到这里，就逐渐能明白作者如何完成两个不同频率之间的协调了。

当接收到laserMapping的消息后，立马更新位姿，这样得到了优化的结果；而这个优化结果会被回调函数laserOdometryHandler​​​​​​​里的transformAssociateToMap这一个函数一直利用来建图，一直到下一次接收到laserMapping​​​​​​​的消息，再一次更新位姿，我们画图来说明：

​

也就是说，最后采用的位姿是TransformMaintenance发布的integrated_to_init消息。而且由上面的分析可知，TransformMaintenance的发布频率和laserOdometry的发布频率是一致的。

 

捞一下https://blog.csdn.net/qq_21842097/article/details/81094922

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转载于:https://www.cnblogs.com/luojs/p/10817091.html