ROS2中获取机器人的TF,然后得到TF中map 和base_link之间的坐标变化,求出Translation:的X和Y,得到Rotation:的角度,你能给出完整示例吗
时间: 2023-11-27 11:55:36 浏览: 31
好的,以下是一个简单的Python示例:
```python
import rclpy
from rclpy.node import Node
from geometry_msgs.msg import TransformStamped
import tf2_ros
import math
class TfSubscriber(Node):
def __init__(self):
super().__init__('tf_subscriber')
self.tf_buffer = tf2_ros.Buffer()
self.tf_listener = tf2_ros.TransformListener(self.tf_buffer, self)
self.timer = self.create_timer(0.1, self.get_tf)
def get_tf(self):
try:
trans = self.tf_buffer.lookup_transform('map', 'base_link', rclpy.time.Time(), rclpy.duration.Duration(seconds=1.0))
x = trans.transform.translation.x
y = trans.transform.translation.y
quat = trans.transform.rotation
roll, pitch, yaw = tf2_ros.transformations.euler_from_quaternion([quat.x, quat.y, quat.z, quat.w])
# Print the X, Y translation and the yaw angle in degrees
self.get_logger().info(f'Translation: X: {x:.2f}, Y: {y:.2f}')
self.get_logger().info(f'Rotation: Yaw: {math.degrees(yaw):.2f}')
except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException) as e:
self.get_logger().warn(str(e))
def main(args=None):
rclpy.init(args=args)
tf_subscriber = TfSubscriber()
rclpy.spin(tf_subscriber)
rclpy.shutdown()
if __name__ == '__main__':
main()
```
这个示例程序会订阅ROS2中的TF变换,并从中获取map到base_link之间的变换。然后,它会将变换中的平移和旋转信息提取出来,并计算X、Y平移和偏航角(yaw)的值,最后输出到终端。