odom2current_pose与current_velocity2cmd_vel的话题转换解析

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资源摘要信息:"在ROS(Robot Operating System)系统中,话题和消息结构的转换是机器人软件开发中的一个重要方面。其中,odom2current_pose和current_velocity2cmd_vel这两个转换操作是实现机器人定位和导航的关键步骤。odom代表里程计(Odometry)信息,current_pose代表当前的位姿信息,current_velocity代表当前速度信息,而cmd_vel代表发送给机器人运动控制器的命令信息。 odom2current_pose是指将里程计信息转换为机器人的当前位姿信息。里程计信息通常包含了机器人在移动过程中关于其位置和方向的估计,但是由于误差的积累,这部分信息并不是完全精确的。因此,odom2current_pose转换过程通常需要结合机器人的传感器数据(如激光雷达、视觉系统等)来实现更为准确的位姿估计,从而得到机器人当前的全局位置和方向。 current_velocity2cmd_vel则是将当前速度信息转换为运动控制器的命令。这个转换涉及到运动学模型和动力学模型的应用,需要考虑机器人的物理特性和环境约束。通常情况下,当前速度信息是由机器人自身传感器获得的,转换为cmd_vel命令是为了告诉机器人应该以何种速度和加速度移动,以及转向的角度。 在ROS系统中,这两种转换通常通过节点(Node)来实现,节点间通过发布(Publish)和订阅(Subscribe)话题(Topic)来进行数据的交换。例如,一个名为‘odom_velocity2pose_cmd’的节点可能会订阅odom话题来获取里程计信息,订阅current_velocity话题来获取速度信息,然后进行相应的转换,并将转换后的位姿和运动控制命令发布到current_pose和cmd_vel话题上。 了解这两种转换机制对于机器人编程人员来说是必不可少的,因为它影响到机器人定位和导航的准确度。在实际应用中,除了基本的转换算法之外,还需要考虑异常值处理、滤波、平滑等问题,以确保机器人能够稳定地进行自主导航和路径规划。此外,为了提高转换的准确性和鲁棒性,有时还需要对算法进行实时的调整和优化,比如使用卡尔曼滤波器等高级技术来整合不同传感器数据,减少噪声和误差,提高整体系统的性能。" 【注】该信息基于给定文件的标题、描述、标签和文件名称列表进行分析,形成了以上资源摘要。

bool MoveObject::goObject() { //connet to the Server, 5s limit while (!move_base.waitForServer(ros::Duration(5.0))) { ROS_INFO("Waiting for move_base action server..."); } ROS_INFO("Connected to move base server"); /t the targetpose move_base_msgs::MoveBaseGoal goal; goal.target_pose.header.frame_id = "map"; goal.target_pose.header.stamp = ros::Time::now(); // goal.target_pose.pose.position.x = Obj_pose.pose.position.x; // goal.target_pose.pose.position.y = Obj_pose.pose.position.y; // target_odom_point.pose.pose.position.x=goal.target_pose.pose.position.x // target_odom_point.pose.pose.position.y=goal.target_pose.pose.position.y target_odom_point.pose.pose.position.x=Obj_pose.pose.position.x; target_odom_point.pose.pose.position.y=Obj_pose.pose.position.y; cout << goal.target_pose.pose.position.x << endl; cout << goal.target_pose.pose.position.y << endl; //goal.target_pose.pose.orientation = tf::createQuaternionMsgFromYaw(g.response.yaw); goal.target_pose.pose.orientation.z = 0.0; goal.target_pose.pose.orientation.w = 1.0; tf::quaternionMsgToTF(target_odom_point.pose.orientation, quat); tf::Matrix3x3(quat).getRPY(roll, pitch, yaw);//进行转换 yaw +=1.5708;//旋转90 target_odom_point.pose.position.x -=keep_distance*cos(yaw); target_odom_point.pose.position.y -=keep_distance*sin(yaw); goal.target_pose.pose.position.x=target_odom_point.pose.pose.position.x goal.target_pose.pose.position.y=target_odom_point.pose.pose.position.y target_odom_point.pose.orientation = tf::createQuaternionMsgFromYaw(yaw); ROS_INFO("Sending goal"); move_base.sendGoal(goal); move_base.waitForResult(); if (move_base.getState() == actionlib::SimpleClientGoalState::SUCCEEDED) { ROS_INFO("Goal succeeded!"); return true; } else { ROS_INFO("Goal failed"); return false; } }

2023-05-25 上传

bool MoveObject::goObject() { //connet to the Server, 5s limit while (!move_base.waitForServer(ros::Duration(5.0))) { ROS_INFO("Waiting for move_base action server..."); } ROS_INFO("Connected to move base server"); /t the targetpose move_base_msgs::MoveBaseGoal goal; goal.target_pose.header.frame_id = "map"; goal.target_pose.header.stamp = ros::Time::now(); target_odom_point.pose.pose.position.x=Obj_pose.pose.position.x; target_odom_point.pose.pose.position.y=Obj_pose.pose.position.y; cout << goal.target_pose.pose.position.x << endl; cout << goal.target_pose.pose.position.y << endl; //goal.target_pose.pose.orientation = tf::createQuaternionMsgFromYaw(g.response.yaw); //goal.target_pose.pose.orientation.z = 0.0; //goal.target_pose.pose.orientation.w = 1.0; double roll,pitch,yaw; tf::quaternionMsgToTF(target_odom_point.pose.orientation, quat); tf::Matrix3x3(quat).getRPY(roll, pitch, yaw);//进行转换 if(yaw>3.14) { yaw -=2*PI;//旋转 target_odom_point.pose.position.x -=keep_distance*cos(yaw); target_odom_point.pose.position.y -=keep_distance*sin(yaw); goal.target_pose.pose.position.x=target_odom_point.pose.pose.position.x goal.target_pose.pose.position.y=target_odom_point.pose.pose.position.y target_odom_point.pose.orientation = tf::createQuaternionMsgFromYaw(yaw); goal.target_pose.pose.orientation.w= target_odom_point.pose.orientation goal.target_pose.pose.orientation.z = 0 //map坐标系下的Z轴 ROS_INFO("Sending goal"); move_base.sendGoal(goal); } move_base.waitForResult(); if (move_base.getState() == actionlib::SimpleClientGoalState::SUCCEEDED) { ROS_INFO("Goal succeeded!"); return true; } else { ROS_INFO("Goal failed"); return false; } }

2023-05-25 上传

给下列程序添加注释:void DWAPlannerROS::initialize( std::string name, tf2_ros::Buffer* tf, costmap_2d::Costmap2DROS* costmap_ros) { if (! isInitialized()) { ros::NodeHandle private_nh("~/" + name); g_plan_pub_ = private_nh.advertise<nav_msgs::Path>("global_plan", 1); l_plan_pub_ = private_nh.advertise<nav_msgs::Path>("local_plan", 1); tf_ = tf; costmap_ros_ = costmap_ros; costmap_ros_->getRobotPose(current_pose_); // make sure to update the costmap we'll use for this cycle costmap_2d::Costmap2D* costmap = costmap_ros_->getCostmap(); planner_util_.initialize(tf, costmap, costmap_ros_->getGlobalFrameID()); //create the actual planner that we'll use.. it'll configure itself from the parameter server dp_ = boost::shared_ptr<DWAPlanner>(new DWAPlanner(name, &planner_util_)); if( private_nh.getParam( "odom_topic", odom_topic_ )) { odom_helper_.setOdomTopic( odom_topic_ ); } initialized_ = true; // Warn about deprecated parameters -- remove this block in N-turtle nav_core::warnRenamedParameter(private_nh, "max_vel_trans", "max_trans_vel"); nav_core::warnRenamedParameter(private_nh, "min_vel_trans", "min_trans_vel"); nav_core::warnRenamedParameter(private_nh, "max_vel_theta", "max_rot_vel"); nav_core::warnRenamedParameter(private_nh, "min_vel_theta", "min_rot_vel"); nav_core::warnRenamedParameter(private_nh, "acc_lim_trans", "acc_limit_trans"); nav_core::warnRenamedParameter(private_nh, "theta_stopped_vel", "rot_stopped_vel"); dsrv_ = new dynamic_reconfigure::Server<DWAPlannerConfig>(private_nh); dynamic_reconfigure::Server<DWAPlannerConfig>::CallbackType cb = boost::bind(&DWAPlannerROS::reconfigureCB, this, _1, 2); dsrv->setCallback(cb); } else{ ROS_WARN("This planner has already been initialized, doing nothing."); } }

2023-06-12 上传