ros::Time time = imu_msg_raw->header.stamp; imu_frame_ = imu_msg_raw->header.frame_id;
时间: 2024-05-31 18:14:27 浏览: 17
这段代码是用来获取IMU(惯性测量单元)消息的时间戳和帧ID的。ROS中的消息都包含一个header头部,其中包含了消息的时间戳和帧ID等信息。这里通过获取IMU消息的时间戳和帧ID,将其保存在类成员变量`time`和`imu_frame_`中,以便后续使用。`ros::Time`是ROS中用来表示时间戳的类,`header.stamp`表示消息的时间戳,`header.frame_id`表示消息的帧ID。
相关问题
激光雷达+imu畸变补偿ros代码
以下是一个基于ROS的激光雷达+IMU畸变补偿的示例代码:
```
#include <ros/ros.h>
#include <sensor_msgs/Imu.h>
#include <sensor_msgs/LaserScan.h>
#include <tf/transform_listener.h>
#include <tf/transform_broadcaster.h>
class LaserImuCalibration
{
public:
LaserImuCalibration();
void imuCallback(const sensor_msgs::Imu::ConstPtr& imu_msg);
void scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan_msg);
private:
ros::NodeHandle nh_;
ros::Subscriber imu_sub_;
ros::Subscriber scan_sub_;
tf::TransformListener tf_listener_;
tf::TransformBroadcaster tf_broadcaster_;
ros::Publisher scan_pub_;
sensor_msgs::LaserScan scan_msg_;
bool imu_received_;
bool scan_received_;
double imu_roll_, imu_pitch_, imu_yaw_;
double imu_gx_, imu_gy_, imu_gz_;
double imu_ax_, imu_ay_, imu_az_;
double imu_time_;
double scan_time_;
};
LaserImuCalibration::LaserImuCalibration() : imu_received_(false), scan_received_(false)
{
imu_sub_ = nh_.subscribe("/imu/data", 1, &LaserImuCalibration::imuCallback, this);
scan_sub_ = nh_.subscribe("/scan", 1, &LaserImuCalibration::scanCallback, this);
scan_pub_ = nh_.advertise<sensor_msgs::LaserScan>("/scan_calibrated", 1);
}
void LaserImuCalibration::imuCallback(const sensor_msgs::Imu::ConstPtr& imu_msg)
{
imu_received_ = true;
imu_roll_ = imu_msg->orientation.x;
imu_pitch_ = imu_msg->orientation.y;
imu_yaw_ = imu_msg->orientation.z;
imu_gx_ = imu_msg->angular_velocity.x;
imu_gy_ = imu_msg->angular_velocity.y;
imu_gz_ = imu_msg->angular_velocity.z;
imu_ax_ = imu_msg->linear_acceleration.x;
imu_ay_ = imu_msg->linear_acceleration.y;
imu_az_ = imu_msg->linear_acceleration.z;
imu_time_ = imu_msg->header.stamp.toSec();
}
void LaserImuCalibration::scanCallback(const sensor_msgs::LaserScan::ConstPtr& scan_msg)
{
scan_received_ = true;
scan_time_ = scan_msg->header.stamp.toSec();
scan_msg_ = *scan_msg;
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "laser_imu_calibration");
LaserImuCalibration node;
while (ros::ok())
{
ros::spinOnce();
if (node.imu_received_ && node.scan_received_)
{
// Get the laser scanner transformation
tf::StampedTransform laser_transform;
try
{
node.tf_listener_.lookupTransform("laser", "imu", ros::Time(0), laser_transform);
}
catch (tf::TransformException ex)
{
ROS_ERROR("%s", ex.what());
continue;
}
// Compute the rotation matrix from the IMU data
tf::Quaternion q(imu_roll_, imu_pitch_, imu_yaw_);
tf::Matrix3x3 m(q);
double imu_roll, imu_pitch, imu_yaw;
m.getRPY(imu_roll, imu_pitch, imu_yaw);
// Compute the IMU acceleration in the laser scanner frame
tf::Vector3 imu_acceleration(imu_ax_, imu_ay_, imu_az_);
imu_acceleration = laser_transform.getBasis() * imu_acceleration;
// Compute the IMU angular velocity in the laser scanner frame
tf::Vector3 imu_angular_velocity(imu_gx_, imu_gy_, imu_gz_);
imu_angular_velocity = laser_transform.getBasis() * imu_angular_velocity;
// Compute the time offset between the IMU and the laser scanner
double time_offset = scan_time_ - imu_time_;
// Update the laser scanner pose using the IMU data
tf::Quaternion q_laser = laser_transform.getRotation();
tf::Quaternion q_imu(imu_roll, imu_pitch, imu_yaw);
tf::Quaternion q_new = q_imu * q_laser;
tf::Transform laser_transform_new(q_new, laser_transform.getOrigin());
laser_transform_new.setOrigin(laser_transform_new.getOrigin() + laser_transform_new.getBasis() * imu_acceleration * time_offset);
laser_transform_new.setRotation(laser_transform_new.getRotation() + tf::Quaternion(0, 0, imu_angular_velocity.getZ() * time_offset, 1) * laser_transform_new.getRotation() * 0.5);
// Publish the calibrated laser scanner data
scan_msg_.header.stamp = ros::Time::now();
tf::transformStampedTFToMsg(tf::StampedTransform(laser_transform_new, scan_msg_.header.stamp, "imu", "laser"), scan_msg_.header.frame_id);
scan_pub_.publish(scan_msg_);
// Broadcast the laser scanner pose
tf_broadcaster_.sendTransform(tf::StampedTransform(laser_transform_new, ros::Time::now(), "imu", "laser"));
// Reset the received flags
node.imu_received_ = false;
node.scan_received_ = false;
}
}
return 0;
}
```
该代码中,首先定义了LaserImuCalibration类,该类订阅IMU数据和激光雷达数据,然后计算IMU数据和激光雷达数据之间的转换关系,最后发布校准后的激光雷达数据。
在imuCallback回调函数中,获取IMU的姿态角、角速度和加速度等数据。在scanCallback回调函数中,获取激光雷达数据。
在计算激光雷达和IMU之间的转换关系时,需要获取激光雷达和IMU之间的变换关系,可以使用tf库中的tf_listener查找二者之间的变换关系。然后,根据IMU的姿态角、角速度和加速度等数据,计算出激光雷达在IMU坐标系下的位姿,并通过发布校准后的激光雷达数据和广播激光雷达位姿,完成畸变补偿。
需要注意的是,该代码仅供参考,具体实现需要根据实际情况进行修改。
IMU里程计 ros程序
好的,以下是一个简单的IMU里程计ROS程序的示例:
```python
#!/usr/bin/env python
import rospy
from sensor_msgs.msg import Imu
from nav_msgs.msg import Odometry
from geometry_msgs.msg import Quaternion, Twist, Vector3
class ImuOdom:
def __init__(self):
rospy.init_node('imu_odom')
self.imu_sub = rospy.Subscriber('/imu/data', Imu, self.imu_callback)
self.odom_pub = rospy.Publisher('/odom', Odometry, queue_size=10)
self.last_time = rospy.Time.now()
self.x = 0
self.y = 0
self.th = 0
def imu_callback(self, msg):
current_time = rospy.Time.now()
dt = (current_time - self.last_time).to_sec()
self.last_time = current_time
# orientation quaternion to Euler angles
q = msg.orientation
roll, pitch, yaw = tf.transformations.euler_from_quaternion([q.x, q.y, q.z, q.w])
# angular velocity
ang_vel = msg.angular_velocity.z
# compute linear velocity
linear_vel = Twist(Vector3(0, 0, 0), Vector3(0, 0, ang_vel))
# compute displacement
self.x += linear_vel.linear.x * dt
self.y += linear_vel.linear.y * dt
self.th += ang_vel * dt
# create odom message
odom = Odometry()
odom.header.stamp = current_time
odom.header.frame_id = "odom"
odom.child_frame_id = "base_link"
# position
odom.pose.pose.position.x = self.x
odom.pose.pose.position.y = self.y
odom.pose.pose.position.z = 0.0
# orientation
odom.pose.pose.orientation = Quaternion(*tf.transformations.quaternion_from_euler(0, 0, self.th))
# velocity
odom.twist.twist = linear_vel
# publish odom message
self.odom_pub.publish(odom)
if __name__ == '__main__':
try:
imu_odom = ImuOdom()
rospy.spin()
except rospy.ROSInterruptException:
pass
```
这个程序订阅IMU数据,根据角速度计算线速度和位移,并发布里程计信息。你需要在程序中设置IMU话题的名称和发布里程计信息的话题名称以及坐标系的名称,以适应你的机器人系统。
注意,这只是一个示例程序,可能需要根据你的具体需求进行修改和优化。
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