tf2::TimePointZero);//这里得到的是from_frame_rel在to_frame_rel坐标系下的相对位置}catch(tf2::TransformException&ex){RCLCPP_INFO(this->get_logger(),"Could not transform %s to %s: %s", toFrameRel.c_str(), fromFrameRel.c_str(), ex.what());return;} 代码来自ros2_galactic_turorials/geo...
( toFrameRel, fromFrameRel, tf2::TimePointZero); } catch (tf2::TransformException & ex) { RCLCPP_INFO( this->get_logger(), "Could not transform %s to %s: %s", toFrameRel.c_str(), fromFrameRel.c_str(), ex.what()); return; } geometry_msgs::msg::Twist msg; static const ...
ROS2 Drivers for the Ouster OS-0, OS-1, and OS-2 Lidars - ros2_ouster_drivers/ros2_ouster/src/ouster_driver.cpp at 5425ed023d3c1c5293a9af90d2ae81c5df889334 · ros-drivers/ros2_ouster_drivers
公告 昵称:Toriyung 园龄:3年11个月 粉丝:2 关注:0 +加关注 在学习使用坐标变换监听tf2_ros::TransformListener时报错 创建监听对象 listener_ = std::make_shared<tf2_ros::TransformListener>(*buffer_,this); 按教程这里构造传入了两个参数,第二个是自身节点对象,可能导致了重复spin ...
catch(const tf2::TransformException& ex) { RCLCPP_ERROR_STREAM(this->get_logger(), "Transform error of sensor data: " << ex.what() << ", quitting callback"); } } void OctomapProject::SetMapTopicMsg(const pcl::PointCloud<pcl::PointXYZ>::Ptr cloud, nav_msgs::msg::OccupancyGrid& ...
ros2 run tf2_ros tf2_echo chassis left_wheel 接下来是sdf模型相关的描述,除了ground和sun模型的调用外,重点是小车模型vehicle的描述,和URDF建模的语法差别不大: <world name="default"> <include> <uri>model://ground_plane</uri> </include>
What we are going to learn In this video, you’ll understand what is a ROS2 interface, the common language behind ROS2 messages, services, and actions. You will also learn: How to create and compile your ownROS2 MessageInterfaces
All right, so here is my understanding of the situation (based on [1], and what I think I understand) A signature like: inline const tf2::TimePoint& fromMsg(...) is returning a reference to an object. This is only OK if the object is going to stick around after return from the ...
lookupTransform( "odom", "detected_obstacle", tf2::TimePointZero); } catch (tf2::TransformException & ex) { RCLCPP_WARN(get_logger(), "Obstacle transform not found: %s", ex.what()); return; } double x = robot2obstacle.transform.translation.x; double y = robot2obstacle.transform....
tf2_ros sensor_msgs std_msgs nav_msgs Boost)ament_export_include_directories(include)add_executable(${PROJECT_NAME}_node src/conversions.cpp src/transforms.cpp src/octomap_projection.cpp src/main.cpp)target_link_libraries(${PROJECT_NAME}_node${PCL_LIBRARIES}${OCTOMAP_LIBRARIES})ament_target_dep...