ros2适用tf2报错

scy123

如图，创建的world帧一直说不存在，求助各位大佬，这是怎么回事

小鱼

@scy123 你把你的用法贴上来，命令行还是代码？

scy123

@小鱼就用的官方的命令行 ros2 run tf2_ros tf2_echo world turtle1

scy123

@小鱼我跑官方的demo也会有错

小鱼

@scy123 要有发布才行，你要不先看看我的教程

scy123

@小鱼我运行了broadcaster 而且一开始跑ros2 launch turtle_tf2_py turtle_tf2_demo.launch.py这个demo的时候也出错

小鱼

@scy123 emmm,只看错误看不出来

@小鱼在提问前必看！一定要看！必须看一下！中说：

尽量提供更多的信息（大多数问题不是别人不知道如何解决，而是不知道你的问题是什么）

scy123

@小鱼
这是broadcaster的

import math
from geometry_msgs.msg import TransformStamped
import numpy as np
import rclpy
from rclpy.node import Node
from tf2_ros import TransformBroadcaster
from turtlesim.msg import Pose


def quaternion_from_euler(ai, aj, ak):
    ai /= 2.0
    aj /= 2.0
    ak /= 2.0
    ci = math.cos(ai)
    si = math.sin(ai)
    cj = math.cos(aj)
    sj = math.sin(aj)
    ck = math.cos(ak)
    sk = math.sin(ak)
    cc = ci*ck
    cs = ci*sk
    sc = si*ck
    ss = si*sk

    q = np.empty((4, ))
    q[0] = cj*sc - sj*cs
    q[1] = cj*ss + sj*cc
    q[2] = cj*cs - sj*sc
    q[3] = cj*cc + sj*ss

    return q


class FramePublisher(Node):

    def __init__(self):
        super().__init__('broad')

        
        self.turtlename = self.declare_parameter('turtlename', 'turtle').get_parameter_value().string_value

        self.tf_broadcaster = TransformBroadcaster(self)

        self.subscription = self.create_subscription(Pose,'broad1',self.handle_turtle_pose,10)
        

    def handle_turtle_pose(self, msg):
        t = TransformStamped()

        t.header.stamp = self.get_clock().now().to_msg()
        t.header.frame_id = 'world'
        t.child_frame_id = self.turtlename

        
        t.transform.translation.x = msg.x
        t.transform.translation.y = msg.y
        t.transform.translation.z = 0.0

        
        q = quaternion_from_euler(0, 0, msg.theta)
        t.transform.rotation.x = q[0]
        t.transform.rotation.y = q[1]
        t.transform.rotation.z = q[2]
        t.transform.rotation.w = q[3]

        
        self.tf_broadcaster.sendTransform(t)


def main():
    rclpy.init()
    node = FramePublisher()
    try:
        rclpy.spin(node)
    except KeyboardInterrupt:
        pass

    rclpy.shutdown()

launch的

from launch import LaunchDescription
from launch_ros.actions import Node


def generate_launch_description():
    return LaunchDescription([
        Node(
            package='turtlesim',
            executable='turtlesim_node',
            name='sim'
        ),
        Node(
            package='scy',
            executable='broad',
            name='broadcaster1',
            parameters=[
                {'turtlename': 'turtle1'}
            ]
        ),
    ])

然后我运行launch后在命令窗口运行命令行ros2 run tf2_ros tf2_echo world turtle1
就出错
[tf2_echo]: Waiting for transform world -> turtle1: Invalid frame ID "world" passed to canTransform argument target_frame - frame does not exist

小鱼

@scy123 再贴一下rqt tf的图

scy123

@小鱼图上说 no tf data received

scy123

@小鱼小鱼老师，我还想再问一下，我的功能包老是本来能成功运行，然后过一段时间修改代码，然后重新编译再运行，就会说找不到功能包，这是怎么回事呀