ament_target_dependencies(static_tf_broadcaster rclcpp tf2 tf2_ros geometry_msgs tf2_geometry_msgs) 发布动态TF 不断向外发布->timer定时器包装定时发布 代码 #include<memory> #include"geometry_msgs/msg/transform_stamped.hpp"//提供消息接口 #include"rclcpp/rclcpp.hpp" #include"tf2/LinearMath/Quaternion....
tf2 和 tf2_ros 是使用 tf 的基础依赖;geometry_msgs 提供消息接口依赖;tf2_geometry_msgs 提供消息类型的转换函数。 ros2 pkg create demo_cpp_tf --build-type ament_cmake --dependencies tf2 tf2_ros geometry_msgs tf2_geometry_msgs rclcpp --license Apache-2.0 对于VS Code,在 .vscode/c_cpp_properti...
tf2::Quaternion tf2_quat, tf2_quat_from_msg; tf2_quat.setRPY(roll, pitch, yaw); // Convert tf2::Quaternion to geometry_msgs::msg::Quaternion geometry_msgs::msg::Quaternion msg_quat = tf2::toMsg(tf2_quat); // Convert geometry_msgs::msg::Quaternion to tf2::Quaternion tf2::convert(msg...
Actions: action_tutorials_interfaces/action/Fibonacci example_interfaces/action/Fibonacci learning_interface/action/MoveCircle tf2_msgs/action/LookupTransform turtlesim/action/RotateAbsolute 其中,Messages为前面提到的消息,Services就是服务的数据接口,至于action是什么,后面再解释。 虽然ros2预先提供了多种数据接口,...
wget https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_cpp/src/fixed_frame_tf2_broadcaster.cpp 打开文件fixed_frame_tf2_broadcaster.cpp #include <geometry_msgs/msg/transform_stamped.hpp> #include <rclcpp/rclcpp.hpp>
示例代码来自ros2_galactic_turorials/geometry_tutorials/turtle_tf2_cpp/src/static_turtle_tf2_broadcaster.cpp 代码语言:c++ AI代码解释 #include <geometry_msgs/msg/transform_stamped.hpp> #include <rclcpp/rclcpp.hpp> #include <tf2/LinearMath/Quaternion.h> ...
(www.guyuehome.com)@说明: ROS2 TF示例-广播静态的坐标变换"""importrclpy # ROS2 Python接口库from rclpy.nodeimportNode # ROS2 节点类from geometry_msgs.msgimportTransformStamped # 坐标变换消息importtf_transformations # TF坐标变换库from...
使用sudo apt install ros-humble-geometry-tutorials 或直接下载源码编译。 官方示例程序: 代码语言:javascript 代码运行次数:0 运行 AI代码解释 importsys from geometry_msgs.msgimportTransformStampedimportrclpy from rclpy.nodeimportNode from tf2_ros.static_transform_broadcasterimportStaticTransformBroadcasterimporttf_...
geometry_msgs::msg::TransformStamped base_to_map_msg, odom_to_map_msg; base_to_map_msg = tf2::toMsg(base_to_map); // this fails // this stuff works, obviously // base_to_map_msg.header.stamp = tf2_ros::toMsg(base_to_map.stamp_); ...
cd dev_ws/src/ ros2 pkg create --build-type ament_python learning_tf2_py cd learning_tf2_py/learning_tf2_py/ vim static_turtle_tf2_broadcaster.py 在文件中编写:import sys from geometry_msgs.msg import TransformStamped import rclpy from rclpy.node import Node from tf2_ros.static_transform_...