软件包tf2_tools中有一个view_frames工具(可执行文件),可以用来创建通过ROS 2系统的tf2正在广播的坐标变换树的图形(diagram)。在一个新的终端中运行以下命令: ros2 run tf2_tools view_frames 这样在该终端中应该会看到如下所示的输出: [INFO] [1627587888.123819060] [view_frames]: Listening to tf data for ...
this->get_parameter("target_frame", target_frame_); tf_buffer_ = std::make_unique<tf2_ros::Buffer>(this->get_clock()); transform_listener_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_); // Create a client to spawn a turtle rclcpp::Client<turtlesim::srv::Spawn>::Sh...
可以生成TF的pdf,目前也有在线的实时查看工具。 ros2 run tf2_tools view_frames.py [INFO] [1636558316.667894410] [view_frames]: Listening to tf data during 5 seconds... [INFO] [1636558321.702280144] [view_frames]: Generating graph in frames.pdf file... [INFO] [1636558321.709904442] [view_frames...
ROS2提供了tf2_tools查看tf2工作图: ros2 run tf2_tools view_frames.py 1. 会显示: [INFO] [1631335696.355017201] [view_frames]: Listening to tf data during 5 seconds... [INFO] [1631335701.358101073] [view_frames]: Generating graph in frames.pdf file... ...
sudo apt-get install ros-galactic-turtle-tf2-py ros-galactic-tf2-tools ros-galactic-tf-transformations 运行演示 既然我们已经安装了turtle_tf2_py教程包,让我们运行演示。 首先,打开一个新的终端并从ros2安装获取,以便ros2命令可以工作。 然后运行以下命令: ...
在TF中,这种情况也称之为静态TF变换,我们来看看在程序中该如何实现? 运行效果 启动终端,运行如下命令: $ ros2 run learning_tf static_tf_broadcaster$ ros2 run tf2_tools view_frames 可以看到当前系统中存在两个坐标系,一个是world,一个...
ROS2提供了tf2_tools查看tf2工作图:ros2 run tf2_tools view_frames.py 会显示:[INFO] [1631335696.355017201] [view_frames]: Listening to tf data during 5 seconds... [INFO] [1631335701.358101073] [view_frames]: Generating graph in frames.pdf file... [INFO] [1631335701.359303339] [view_frames]:...
2.查看TF树 ros2 run tf2_tools view_frames.py evince frames.pdf 查看两个坐标系之间的关系 ros2 run tf2_ros tf2_echo [reference_frame] [target_frame] ros2 run tf2_ros tf2_echo turtle2 turtle1 在rviz上查看TF关系 ros2 run rviz2 rviz2 -d $(ros2 pkg prefix --share turtle_tf2_py)/...
transformStamped = tf_buffer_->lookupTransform( toFrameRel, fromFrameRel, this->now()); } catch (tf2::TransformException & ex) { 修改CMakeLists.txt文件,再原来的内容基础上添加turtle_tf2_listener_debug.cpp的内容 add_executable(turtle_tf2_listener_debug src/turtle_tf2_listener_debug.cpp) ...