步骤3: 创建一个 Python 脚本并导入必要的库 在src目录下创建一个新的 Python 脚本,比如tf_listener.py。此外,你还需要引入用于 tf 和 rospy 的库。内容如下: #!/usr/bin/env pythonimportrospyimporttffromtf.transformationsimporteuler_from_quaternion 1. 2. 3. 4. rospy: ROS 的 Python 库。 tf: ROS...
/usr/bin/env pythonimportrospyimporttfimportgeometry_msgs.msgimportnumpyasnpdefpublish_tf():rospy.init_node('tf_publisher_node')# 创建一个TF broadcasterbr=tf.TransformBroadcaster()rate=rospy.Rate(10.0)# 设置频率为10Hzwhilenotrospy.is_shutdown():# 生成伪随机的位置和姿态x=np.random.uniform(-10...
roslib.load_manifest('learning_tf')importrospyimporttfimportturtlesim.msgdefhandle_turtle_pose(msg, turtlename): br = tf.TransformBroadcaster() br.sendTransform((msg.x, msg.y,0), tf.transformations.quaternion_from_euler(0,0, msg.theta), ...
编写Python代码来创建一个tf广播器: python import rospy import tf def broadcast_transform(): # 初始化节点 rospy.init_node('tf_broadcaster') # 创建一个tf广播器 br = tf.TransformBroadcaster() # 设置发布频率 rate = rospy.Rate(10.0) # 10Hz while not rospy.is_shutdown(): # 设置要发布的变...
创建包,依赖tf_transformations rclpy tf2_ros geometry_msgs turtlesim cd ~/tf2_ws/src ros2 pkg create --build-type ament_python learning_tf2_py --dependencies tf_transformations rclpy tf2_ros geometry_msgs turtlesim 生成的目录树 ~/tf2_ws/src/learning_tf2_py$ tree ...
原本博主以为matlab中是采用通常的欧拉角进行变换,但在实际测试中发现,matlab中采用q = angle2quat(r1, r2, r3, 'zyx')进行计算和python中采用tf.transformations.quaternion_form_euler(ai,aj,ak,axes=‘szyx’)进行计算,两者对同样的欧拉角计算得到的四元数并不相同 然后博主通过欧拉角和旋转矩阵的对应关系对此进...
from tf2_ros import TransformBroadcaster import tf_transformations from turtlesim.msg import Pose class FramePublisher(Node): def __init__(self): super().__init__('turtle_tf2_frame_publisher') # Declare and acquire `turtlename` parameter ...
The API is different. The new API has more consistent naming, but even then, it is not a one-to-one translation. for example,tf.transformations.quaternion_from_eulercould be replaced withtransforms3d.euler.euler2quat, buttfreturns the quaternion with the orderingx, y, z, wandtransforms3dretu...
# rotation in z axis from the message q = tf_transformations.quaternion_from_euler(0, 0, msg.theta) t.transform.rotation.x = q[0] t.transform.rotation.y = q[1] t.transform.rotation.z = q[2] t.transform.rotation.w = q[3] # Send the transformation br.sendTransform(t) def main(...
Writing a tf broadcaster (Python) 欧拉角和四元数的转换我也用了tf下面的工具包 引用 from tf.transformations import quaternion_from_euler, euler_from_quaternion 使用例子 qn = [odom.pose.pose.orientation.x, odom.pose.pose.orientation.y, odom.pose.pose.orientation.z, odom.pose.pose.orientation.w]...