在机器人的控制中,坐标系统是非常重要的,在ROS使用tf软件库进行坐标转换。
相关链接:http://www.ros.org/wiki/tf/Tutorials#Learning_tf
一、tf简介
1、安装turtle包
$ rosdep install turtle_tf rviz
$ rosmake turtle_tf rviz
2、运行demo
运行简单的demo:
$ roslaunch turtle_tf turtle_tf_demo.launch
然后就会看到两只小乌龟了。
可以发现,第二只乌龟会跟随你移动的乌龟进行移动。
3、demo分析
这个例程使用tf建立了三个参考系:a world frame, a turtle1 frame, and a turtle2 frame。然后使用tf broadcaster发布乌龟的参考系,并且使用tf listener计算乌龟参考系之间的差异,使得第二只乌龟跟随第一只乌龟。
我们可以使用tf工具来具体研究。
$ rosrun tf view_frames
然后会看到一些提示,并且生成了一个frames.pdf文件。
tf还提供了一个tf_echo工具来查看两个广播参考系之间的关系。我们可以看一下第二只得乌龟坐标是怎么根据第一只乌龟得出来的。
- $ rosrun tf tf_echo turtle1 turtle2
我们也可以通过rviz的图形界面更加形象的看到这三者之间的关系。
$ rosrun rviz rviz -d `rospack find turtle_tf`/rviz/tule_rviz.rviz
下面我们就来详细分析这个实例。
二、Writing a tf broadcaster
1、创建包
cd catkin_ws/src/
catkin_create_pkg learning_tf tf roscpp rospy turtlesim
建立你的新包roscd之前:
$ cd ~/catkin_ws
$ catkin_make
$ source ./devel/setup.bash
我们首先创建源文件。 我们刚刚创建的包:
$ roscd learning_tf
去 src / 文件夹并打开你最喜欢的编辑器,将下面的代码粘贴到一个新文件 src / turtle_tf_broadcaster.cpp 。
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <turtlesim/Pose.h> std::string turtle_name; void poseCallback(const turtlesim::PoseConstPtr& msg){
static tf::TransformBroadcaster br;
tf::Transform transform;
transform.setOrigin( tf::Vector3(msg->x, msg->y, 0.0) );
tf::Quaternion q;
q.setRPY(0, 0, msg->theta);
transform.setRotation(q);
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", turtle_name));
} int main(int argc, char** argv){
ros::init(argc, argv, "my_tf_broadcaster");
if (argc != 2){ROS_ERROR("need turtle name as argument"); return -1;};
turtle_name = argv[1]; ros::NodeHandle node;
ros::Subscriber sub = node.subscribe(turtle_name+"/pose", 10, &poseCallback); ros::spin();
return 0;
};
现在我们创建代码,允许编译它。 打开 CMakeLists.txt 底部文件,并添加以下行:
add_executable(turtle_tf_broadcaster src/turtle_tf_broadcaster.cpp)
target_link_libraries(turtle_tf_broadcaster ${catkin_LIBRARIES})
Build your package; at the top folder of your catkin workspace:
$ catkin_make
创建launch文件start_demo.launch:
<launch>
<!-- Turtlesim Node-->
<node pkg="turtlesim" type="turtlesim_node" name="sim"/> <node pkg="turtlesim" type="turtle_teleop_key" name="teleop" output="screen"/>
<!-- Axes -->
<param name="scale_linear" value="" type="double"/>
<param name="scale_angular" value="" type="double"/> <node pkg="learning_tf" type="turtle_tf_broadcaster"
args="/turtle1" name="turtle1_tf_broadcaster" />
<node pkg="learning_tf" type="turtle_tf_broadcaster"
args="/turtle2" name="turtle2_tf_broadcaster" /> </launch>
运行:
$ roslaunch learning_tf start_demo.launch
可以看到界面中只有移植乌龟了,打开tf_echo的信息窗口:
$ rosrun tf tf_echo /world /turtle1
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" alt="" />
world参考系的原点在最下角,对于turtle1的转换关系,其实就是turtle1在world参考系中所在的坐标位置以及旋转角度。
三、Writing a tf listener
这一步,我们将看到如何使用tf进行参考系转换。首先写一个tf listener(turtle_tf_listener.cpp)
. The turtlesim/Velocity.h header is not used anymore(再也不), it has been replaced by geometry_msgs/Twist.h. Furthermore(此外), the topic /turtle/command_velocity is now called /turtle/cmd_vel. In light of this, a few changes are necessary to make it work:
#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/Twist.h>
#include <turtlesim/Spawn.h> int main(int argc, char** argv){
ros::init(argc, argv, "my_tf_listener"); ros::NodeHandle node; ros::service::waitForService("spawn");
ros::ServiceClient add_turtle =
node.serviceClient<turtlesim::Spawn>("spawn");
turtlesim::Spawn srv;
add_turtle.call(srv); ros::Publisher turtle_vel =
node.advertise<geometry_msgs::Twist>("turtle2/cmd_vel", 10); tf::TransformListener listener; ros::Rate rate(10.0);
while (node.ok()){
tf::StampedTransform transform;
try{
listener.lookupTransform("/turtle2", "/turtle1",
ros::Time(0), transform);
}
catch (tf::TransformException &ex) {
ROS_ERROR("%s",ex.what());
ros::Duration(1.0).sleep();
continue;
} geometry_msgs::Twist vel_msg;
vel_msg.angular.z = 4.0 * atan2(transform.getOrigin().y(),
transform.getOrigin().x());
vel_msg.linear.x = 0.5 * sqrt(pow(transform.getOrigin().x(), 2) +
pow(transform.getOrigin().y(), 2));
turtle_vel.publish(vel_msg); rate.sleep();
}
return 0;
};
修改 CMakeLists.txt
gedit CMakeLists.txt
add_executable(turtle_tf_listener src/turtle_tf_listener.cpp)
target_link_libraries(turtle_tf_listener ${catkin_LIBRARIES})
Build your package; at the top folder of your catkin workspace:
$ catkin_make
修改 launch文件start_demo.launch添加:
<launch>
...
<node pkg="learning_tf" type="turtle_tf_listener"
name="listener" />
</launch>
然后在运行:
$ roslaunch learning_tf start_demo.launch
就可以看到两只turtle了,也就是我们在最开始见到的那种跟随效果。
四、Adding a frame
1、tf消息结构
2、建立固定参考系(fixed frame)
#include <ros/ros.h>
#include <tf/transform_broadcaster.h> int main(int argc, char** argv){
ros::init(argc, argv, "my_tf_broadcaster");
ros::NodeHandle node; tf::TransformBroadcaster br;
tf::Transform transform; ros::Rate rate(10.0);
while (node.ok()){
transform.setOrigin( tf::Vector3(0.0, 2.0, 0.0) );
transform.setRotation( tf::Quaternion(0, 0, 0, 1) );
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "turtle1", "carrot1"));
rate.sleep();
}
return 0;
};
修改 CMakeLists.txt
gedit CMakeLists.txt
add_executable(frame_tf_broadcaster src/frame_tf_broadcaster.cpp)
target_link_libraries(frame_tf_broadcaster ${catkin_LIBRARIES})
Build your package; at the top folder of your catkin workspace:
$ catkin_make
修改 launch文件start_demo.launch添加:
<launch>
...
<node pkg="learning_tf" type="frame_tf_broadcaster"
name="broadcaster_frame" />
</launch>
然后在运行:
$ roslaunch learning_tf start_demo.launch
发现效果跟以前一样
Open the src/turtle_tf_listener.cpp file, and simple replace "/turtle1" with "/carrot1" in lines 26-27:
listener.lookupTransform("/turtle2", "/carrot1",
ros::Time(0), transform);
重新编译
Build your package; at the top folder of your catkin workspace:
$ catkin_make
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" alt="" />
ERROR: cannot launch node of type [learning_tf/turtle_tf_broadcaster]: can't locate node [turtle_tf_broadcaster] in package [learning_tf]
ERROR: cannot launch node of type [learning_tf/turtle_tf_listener]: can't locate node [turtle_tf_listener] in package [learning_tf]
ERROR: cannot launch node of type [learning_tf/frame_tf_broadcaster]: can't locate node [frame_tf_broadcaster] in package [learning_tf]