ros2 2d位姿 转换成6d位姿

要将ROS2中的2D位姿转换为6D位姿，您可以使用tf2库中的TransformBroadcaster和TransformListener。以下是一个示例代码，展示了如何将2D位姿(x, y, theta)转换为6D位姿(x, y, z, qx, qy, qz, qw)：

import rclpy
from rclpy.node import Node
from geometry_msgs.msg import TransformStamped, PoseStamped
from tf2_ros import TransformBroadcaster, TransformListener, TransformException
from tf2_ros import StaticTransformBroadcaster

class PoseTransformer(Node):
    def __init__(self):
        super().__init__('pose_transformer')
        self.tf_broadcaster = TransformBroadcaster(self)
        self.tf_listener = TransformListener(self)

        self.pose_sub = self.create_subscription(
            PoseStamped,
            'input_pose',
            self.pose_callback,
            10
        )
        self.pose_pub = self.create_publisher(
            TransformStamped,
            'output_pose',
            10
        )

    def pose_callback(self, msg):
        try:
            # Get the transform from the parent frame to the child frame
            transform = self.tf_listener.lookup_transform(
                'parent_frame',
                'child_frame',
                rclpy.time.Time().to_msg()
            )

            # Convert the 2D pose to a 6D pose
            pose = TransformStamped()
            pose.header = msg.header
            pose.transform.translation.x = msg.pose.position.x
            pose.transform.translation.y = msg.pose.position.y

            # Convert the rotation from Euler angles to quaternion
            pose.transform.rotation.x, pose.transform.rotation.y, \
                pose.transform.rotation.z, pose.transform.rotation.w = \
                self.euler_to_quaternion(0, 0, msg.pose.orientation.z)

            # Apply the transform obtained from tf2
            self.tf_broadcaster.sendTransform(pose)

            # Publish the transformed pose
            self.pose_pub.publish(pose)

        except TransformException as e:
            self.get_logger().error('TransformException: %s' % e)

    @staticmethod
    def euler_to_quaternion(roll, pitch, yaw):
        cy = math.cos(yaw * 0.5)
        sy = math.sin(yaw * 0.5)
        cp = math.cos(pitch * 0.5)
        sp = math.sin(pitch * 0.5)
        cr = math.cos(roll * 0.5)
        sr = math.sin(roll * 0.5)

        qx = sr * cp * cy - cr * sp * sy
        qy = cr * sp * cy + sr * cp * sy
        qz = cr * cp * sy - sr * sp * cy
        qw = cr * cp * cy + sr * sp * sy

        return qx, qy, qz, qw

def main(args=None):
    rclpy.init(args=args)
    pose_transformer = PoseTransformer()
    rclpy.spin(pose_transformer)
    rclpy.shutdown()

if __name__ == '__main__':
    main()

在上述代码中，您需要将'parent_frame'和'child_frame'替换为实际使用的坐标系。您还需要订阅输入2D位姿的话题，并在输出6D位姿的话题上发布转换后的位姿。请确保您的工作空间中已安装适当的依赖项并构建工作空间。

这个示例代码使用了Python和ROS2的geometry_msgs和tf2_ros库。它订阅了名为'input_pose'的输入位姿话题，并通过tf2获取父坐标系到子坐标系的变换。然后，它将2D位姿转换为6D位姿，并应用从tf2获取的变换。最后，它通过发布话题'output_pose'发布转换后的6D位姿。

请注意，这只是一个示例代码，您需要根据您的实际需求进行适当的修改和调整。