{+//使用 micro_ros_string_utilities_set 函数设置到 odom_msg.header.frame_id 中+ odom_msg.header.frame_id = micro_ros_string_utilities_set(odom_msg.header.frame_id,"odom");+ odom_msg.child_frame_id = micro_ros_string_utilities_set(odom_msg.child_frame_id,"base_link");//等待 2 秒...
child_frame_id:子坐标系ID,通常表示机器人本体的坐标系,用于描述odom消息所参照的坐标框架。 pose:位置和姿态信息,包含位置(x, y, z)和姿态(四元数或旋转矩阵)。 twist:线速度和角速度信息,描述了机器人在当前坐标系下的运动状态。 在ROS中,odom消息通常基于nav_msgs/Odometry类型,该类型的具体定义可以在ROS...
4:cartographer数据转换Ros数据 nav_msgs::Odometry ToRosMsg(cartographer::sensor::OdometryData odometry_data) { nav_msgs::Odometry odom; odom.header.stamp = TimeRosFromCarto(odometry_data.time); odom.header.frame_id = "odom"; odom.pose.pose.position.x = odometry_data.pose.translation().x();...
Transform其中transform就是我们关心的 tf 转换关系,child_frame_id是"base_link", header.frame_id 则是'odom'. 查看geometry_msgs/transform: rosmsg show -r geometry_msgs/Transform # This represents the transform between two coordinate frames in free space. Vector3<strong><spanstyle="color:#FF0000;...
Transform其中transform就是我们关心的 tf 转换关系,child_frame_id是"base_link", header.frame_id 则是'odom'. 查看geometry_msgs/transform: [html]view plaincopy rosmsg show -r geometry_msgs/Transform # This represents the transform between two coordinate frames in free space. ...
Transform其中transform就是我们关心的 tf 转换关系,child_frame_id是"base_link", header.frame_id 则是'odom'. 查看geometry_msgs/transform: [html]view plaincopy rosmsg show -r geometry_msgs/Transform # This represents the transform between two coordinate frames in free space. ...
()odom_msg.header.frame_id="odom"odom_msg.child_frame_id="base_link"odom_msg.pose.pose.position.x=1.0odom_msg.pose.pose.position.y=2.0odom_msg.pose.pose.position.z=0.0rate=rospy.Rate(10)# 设置发布频率为10Hzwhilenotrospy.is_shutdown():odom_msg.header.stamp=rospy.Time.now()# 更新...
geometry_msgs::msg::TransformStamped transform; double seconds = this->now().seconds(); transform.header.stamp = rclcpp::Time(static_cast<uint64_t>(seconds * 1e9)); transform.header.frame_id = "odom"; transform.child_frame_id = "base_footprint"; ...
msg::TransformStamped transform; double seconds = this->now().seconds(); transform.header.stamp = rclcpp::Time(static_cast<uint64_t>(seconds * 1e9)); transform.header.frame_id = "odom"; transform.child_frame_id = "base_footprint"; transform.transform.translation.x = odom_msg_.pose....
Odometry Publisher python #!/usr/bin/env python import rospy from nav_msgs.msg import Odometry import math def odometry_publisher():# 初始化ROS节点 rospy.init_node('odometry_publisher', anonymous=True)# 创建Odometry消息的发布者 pub = rospy.Publisher('odom', Odometry, queue_size=10)