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    在第17章建图实现第3节odom话题发布不出来

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    • twj0011001010T
      twj0011001010
      最后由 编辑

      #include <rclcpp/rclcpp.hpp>
      #include <nav_msgs/msg/odometry.hpp>
      #include <tf2/utils.h>
      #include <tf2_ros/transform_broadcaster.h>

      class TopicSubscribe01 : public rclcpp::Node
      {
      public:
      TopicSubscribe01(std::string name) : Node(name)
      {
      // 创建一个订阅者,订阅"odom"话题的nav_msgs::msg::Odometry类型消息
      odom_subscribe_ = this->create_subscription<nav_msgs::msg::Odometry>(
      "odom", rclcpp::SensorDataQoS(),
      std::bind(&TopicSubscribe01::odom_callback, this, std::placeholders::_1));

      // 创建一个tf2_ros::TransformBroadcaster用于广播坐标变换
      tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(this);
      

      }

      private:
      rclcpp::Subscription<nav_msgs::msg::Odometry>::SharedPtr odom_subscribe_;
      std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
      nav_msgs::msg::Odometry odom_msg_;

      // 回调函数,处理接收到的odom消息
      void odom_callback(const nav_msgs::msg::Odometry::SharedPtr msg)
      {
      (void)msg;
      RCLCPP_INFO(this->get_logger(), "接收到里程计信息->底盘坐标系 tf :(%f,%f)",
      msg->pose.pose.position.x, msg->pose.pose.position.y);

      // 更新odom_msg_的姿态信息
      odom_msg_.pose.pose.position.x = msg->pose.pose.position.x;
      odom_msg_.pose.pose.position.y = msg->pose.pose.position.y;
      odom_msg_.pose.pose.position.z = msg->pose.pose.position.z;
      
      odom_msg_.pose.pose.orientation.x = msg->pose.pose.orientation.x;
      odom_msg_.pose.pose.orientation.y = msg->pose.pose.orientation.y;
      odom_msg_.pose.pose.orientation.z = msg->pose.pose.orientation.z;
      odom_msg_.pose.pose.orientation.w = msg->pose.pose.orientation.w;
      

      };

      public:
      // 发布坐标变换信息
      void publish_tf()
      {
      geometry_msgs::msg::TransformStamped transform;
      double seconds = this->now().seconds();
      transform.header.stamp = rclcpp::Time(static_cast<uint64_t>(seconds * 1e9));
      transform.header.frame_id = "odom";
      transform.child_frame_id = "base_footprint";

      transform.transform.translation.x = odom_msg_.pose.pose.position.x;
      transform.transform.translation.y = odom_msg_.pose.pose.position.y;
      transform.transform.translation.z = odom_msg_.pose.pose.position.z;
      transform.transform.rotation.x = odom_msg_.pose.pose.orientation.x;
      transform.transform.rotation.y = odom_msg_.pose.pose.orientation.y;
      transform.transform.rotation.z = odom_msg_.pose.pose.orientation.z;
      transform.transform.rotation.w = odom_msg_.pose.pose.orientation.w;
      
      // 广播坐标变换信息
      tf_broadcaster_->sendTransform(transform);
      

      }
      };

      int main(int argc, char **argv)
      {
      // 初始化ROS节点
      rclcpp::init(argc, argv);

      // 创建一个TopicSubscribe01节点
      auto node = std::make_shared<TopicSubscribe01>("fishbot_bringup");

      // 设置循环频率
      rclcpp::WallRate loop_rate(20.0);
      while (rclcpp::ok())
      {
      // 处理回调函数
      rclcpp::spin_some(node);

      // 发布坐标变换信息
      node->publish_tf();
      
      // 控制循环频率
      loop_rate.sleep();
      

      }

      // 关闭ROS节点
      rclcpp::shutdown();
      return 0;
      }
      cmakelist文件
      cmake_minimum_required(VERSION 3.8)
      project(fishbot_bringup)

      if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
      add_compile_options(-Wall -Wextra -Wpedantic)
      endif()

      find dependencies

      find_package(ament_cmake REQUIRED)
      find_package(rclcpp REQUIRED)
      find_package(geometry_msgs REQUIRED)
      find_package(nav_msgs REQUIRED)
      find_package(tf2 REQUIRED)
      find_package(tf2_ros REQUIRED)

      set(dependencies
      rclcpp
      geometry_msgs
      nav_msgs
      tf2
      tf2_ros
      )

      uncomment the following section in order to fill in

      further dependencies manually.

      find_package(<dependency> REQUIRED)

      add_executable(fishbot_bringup src/fishbot_bringup.cpp)
      target_include_directories(fishbot_bringup PUBLIC
      $<BUILD_INTERFACE:${CMAKE_CURRENT_SOURCE_DIR}/include>
      $<INSTALL_INTERFACE:include>)
      target_compile_features(fishbot_bringup PUBLIC c_std_99 cxx_std_17) # Require C99 and C++17

      ament_target_dependencies(fishbot_bringup
      ${dependencies}
      )
      install(TARGETS fishbot_bringup
      DESTINATION lib/${PROJECT_NAME})

      if(BUILD_TESTING)
      find_package(ament_lint_auto REQUIRED)

      the following line skips the linter which checks for copyrights

      comment the line when a copyright and license is added to all source files

      set(ament_cmake_copyright_FOUND TRUE)

      the following line skips cpplint (only works in a git repo)

      comment the line when this package is in a git repo and when

      a copyright and license is added to all source files

      set(ament_cmake_cpplint_FOUND TRUE)
      ament_lint_auto_find_test_dependencies()
      endif()

      ament_package()
      图片
      00b17507-40a5-483a-a0e9-09a93dd92370-e936565be59635735503c327a37cde4.jpg

      twj0011001010T 1 条回复 最后回复 回复 引用 0
      • twj0011001010T
        twj0011001010 @twj0011001010
        最后由 编辑

        @小鱼 鱼哥,请问这是怎么回事

        小鱼小 1 条回复 最后回复 回复 引用 0
        • 小鱼小
          小鱼 技术大佬 @twj0011001010
          最后由 编辑

          @twj0011001010 请按照模板提问:https://fishros.org.cn/forum/topic/151/提问前必看-不符合要求的问题拒绝回答

          新书配套视频:https://www.bilibili.com/video/BV1GW42197Ck/

          1 条回复 最后回复 回复 引用 0
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