最后调用坐标变换发布者对象br的sendTransform()方法将坐标变换对象t发送给tf2。 最后是定义main()函数。首先是初始化rclpy客户端库,并实例化FramePublisher对象(节点),然后一直旋转(“spins”)该节点以调用其回调函数,直到用户通过键盘输入Ctrl+C组合键中断节点旋转;最后是关闭rclpy客户端库。 def main(): rclpy.init...
w(); broadcaster_->sendTransform(transform); RCLCPP_INFO(this->get_logger(), "发布静态 TF: camera_link 相对于 base_link"); } std::shared_ptr<tf2_ros::StaticTransformBroadcaster> broadcaster_; }; int main(int argc, char * argv[]) { rclcpp::init(argc, argv); rclcpp::...
ros2 run tf2_ros static_transform_publisher 按enter键,可以看到 A command line utility for manually sending a transform. Usage: static_transform_publisher x y z qx qy qz qw frame_id child_frame_id OR Usage: static_transform_publisher x y z yaw pitch roll frame_id child_frame_id 这是该C...
ros2 run tf2_ros static_transform_publisher --x x --y y --z z --yaw yaw --pitch pitch --roll roll --frame-id frame_id --child-frame-id child_frame_id 使用以米和四元数为单位的 x/y/z 偏移将静态坐标变换发布到 tf2。 ros2 run tf2_ros static_transform_publisher --x x --y y...
self.br.sendTransform(t) def main(): rclpy.init() node = FramePublisher() try: rclpy.spin(node) except KeyboardInterrupt: pass rclpy.shutdown() 赋执行权限 sudo chmod +x turtle_tf2_broadcaster.py 添加入口,修改setup.py在'console_scripts': [里添加 ...
from tf2_ros.static_transform_broadcaster import StaticTransformBroadcaster import tf_transformations class StaticFramePublisher(Node): """ Broadcast transforms that never change. This example publishes transforms from `world` to a static turtle frame. ...
【ROS2机器人入门到实战】tf2介绍,TF即变换的英文单词TransForm的缩写。所以ROS和ROS2中的TF就是指和坐标变换相关的工具。在搞机器人当中,坐标变换经常用到,所以ROS2帮我们做了一个强大易用的TF工具。
tf2::Quaternion quat; quat.setRPY(0,0,60*M_PI/180);//弧度值欧拉角转四元数 transform.transform.rotation = tf2::toMsg(quat);//转成消息接口类型 broadcaster_->sendTransform(transform);//将坐标变换发布出去(静态变换只需要发布一次) }
transform.translation.x = 1.0; tf_broadcaster_->sendTransform(detection_tf); odom →base footprint→ detected obstacle: 代码语言:javascript 复制 tf2_ros::Buffer tfBuffer; tf2_ros::TransformListener tfListener(tfBuffer); ... geometry_msgs::msg::TransformStamped odom2obstacle; odom2obstacle = tf...
#include <tf2/utils.h> #include <tf2_ros/transform_broadcaster.h> class TopicSubscribe01 : public rclcpp::Node { public: TopicSubscribe01(std::string name) : Node(name) { // 创建一个订阅者,订阅"odom"话题的nav_msgs::msg::Odometry类型消息 ...