ROS操作系统学习(十三)tf坐标系广播与监听的编程实现

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2021年2月18日 09时12分

1.创建功能包

 

cd /catkin_ws/src
catkin_create_pkg learning_tf roscpp rospy tf turtlesim

 

2.创建广播C++代码

 

当然还是在learning_tf/src下创建c++代码

 

touch turtle_tf_broadcaster.cpp

 

输入

 

/**
 * 该例程产生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;
};

 

如何创建一个tf广播器

 

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

 

3.创建监听C++代码

 

当然还是在learning_tf/src下创建c++代码

 

touch turtle_tf_listener.cpp

 

输入

 

/**
 * 该例程监听tf数据,并计算、发布turtle2的速度指令
 */

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/Twist.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的监听器
	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().y(), 2));
		turtle_vel.publish(vel_msg);

		rate.sleep();
	}
	return 0;
};

 

如何实现一个TF监听器

 

  • 定义TF监听器;(TransformListener)
  • 查找坐标变换;(waitForTransofrm、lookupTransform)

 

3.编辑CMakeLists.txt

 

加上这两句

 

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})

 

4.编译并运行

 

cd /catkin_ws
catkin_make

 

5.验证

 

 

roscore

 

rosrun turtlesim turtlesim_node

 

rosrun learning_tf turtle_tf_broadcaster __name:=turtle1_tf_broadcaster /turtle1

 

rosrun learning_tf turtle_tf_broadcaster __name:=turtle2_tf_broadcaster /turtle2

 

rosrun learning_tf turtle_tf_listener

 

rosrun turtlesim turtle_teleop_key 

当然也是在不同终端下执行

 

结果

 

在这里插入图片描述

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