在第17章建图实现第3节odom话题发布不出来

[twj0011001010]

#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

[twj0011001010]

@小鱼 鱼哥，请问这是怎么回事

[小鱼]

@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