ros2中tf2的使用

最新推荐文章于 2024-10-04 18:57:32 发布

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最新推荐文章于 2024-10-04 18:57:32 发布

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分类专栏： ros2

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tf2_ros::TransformBroadcaster

#include "tf2_ros/transform_broadcaster.h" 
auto node = rclcpp::Node::make_shared("test");

std::shared_ptr<tf2_ros::TransformBroadcaster> odom_broadcaster;   //定义发布器

odom_broadcaster = std::make_unique<tf2_ros::TransformBroadcaster>(node);

geometry_msgs::msg::TransformStamped odom_trans;

odom_broadcaster->sendTransform(odom_trans);

tf2_ros::TransformListener

#include "tf2_ros/transform_listener.h"
auto node = rclcpp::Node::make_shared("test");
tf2_ros::Buffer *tf_buffer;
tf_buffer = new tf2_ros::Buffer(node->get_clock());
tf2_ros::TransformListener *tf_listener = new tf2_ros::TransformListener(*tf_buffer,node);
geometry_msgs::msg::TransformStamped lis_trans;
rclcpp::WallRate loop(1);

while (rclcpp::ok())
  {
  try
        {
            lis_trans = tf_buffer->lookupTransform(map_frame_,base_frame_,tf2::TimePointZero );

            RCLCPP_INFO(node->get_logger(),"%d %d %d",lis_trans.transform.translation.x,lis_trans.transform.translation.y,lis_trans.transform.translation.z);
        }
        catch(tf2::TransformException &ex)
        {
            RCLCPP_WARN(node->get_logger(),"%s",ex.what());
        }
        loop.sleep();
  }