创建tf2_ros::TransformListener对象,用来监听tf节点数据 在tfBuffer中查询坐标变换 创建cpp源文件,src/turtle_tf2_listener.cpp,下面给出关键代码。 #include<geometry_msgs/TransformStamped.h>#include<ros/ros.h>#include<tf2_ros/transform_liste
问tf2_ros::Buffer::canTransform()为现有转换返回FalseEN这是我们今天要讨论的话题，因为我觉得它非常...
tf2_ros::Buffer tfBuffer; tf2_ros::TransformListener tfListener(tfBuffer); 这里创建了一个TransformListener对象,当Listener创建好后,它就会通过网络来接收tf2的位姿变换信息,and buffers them for up to 10 seconds.(并将其缓冲长达10s:我的理解是将接收到的信息最多能缓存10s) The TransformListener object ...
// tf2_ros::Buffer 的几个方法this->tf_->transform(ident,laser_pose,base_frame_id_);tf_->transform(min_q,min_q,base_frame_id_);// handleInitialPoseMessage()函数内部的tf_ buffer的方法// wait a little for the latest tf to become availabletx_odom=tf_->lookupTransform(base_frame_id_,...
trans = tfBuffer.lookup_transform(turtle_name, 'turtle1', rospy.Time()) except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException): rate.sleep() continue msg = geometry_msgs.msg.Twist() msg.angular.z = 4 * math.atan2(trans.transform.translation.y, trans...
{ buffer_ = std::make_shared<tf2_ros::Buffer>(this->get_clock()); listener_ = std::make_shared<tf2_ros::TransformListener>(*buffer_, this); } void getTransform() { try { geometry_msgs::msg::TransformStamped transform = buffer_->lookupTransform("map", "base_...
self.tf_buffer = Buffer() self.tf_listener = TransformListener(self.tf_buffer, self) # Create a client to spawn a turtle self.spawner = self.create_client(Spawn, 'spawn') # Boolean values to store the information # if the service for spawning turtle is available ...
trans = self._tf_buffer.lookup_transform( target_frame = to_frame_rel, source_frame = from_frame_rel, time = when, timeout = rclcpp::Duration::from_seconds(0.5)) 现在,如果运行该节点,在前5秒内,第二只小乌龟将不知道应该去哪里,因为此时还没有第一只小乌龟的5秒历史记录。但是在5秒钟之后呢...
(self):try:trans=self.tf_buffer.lookup_transform('target_frame','source_frame',rclpy.time.Time())self.get_logger().info(f'Translation:{trans.transform.translation}')self.get_logger().info(f'Rotation:{trans.transform.rotation}')except(tf2_ros.LookupException,tf2_ros.ConnectivityException,tf2_...
try{transformStamped=tf_buffer_->lookupTransform(toFrameRel, fromFrameRel, 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", ...