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Mzebra
2023-12-14 22:37:46 +08:00
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chapt5/chapt5_ws/src/demo_cpp_tf/CMakeLists.txt Normal file
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cmake_minimum_required(VERSION 3.8)
project(demo_cpp_tf)
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(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(tf2_geometry_msgs REQUIRED)
add_executable(static_tf_broadcaster src/static_tf_broadcaster.cpp)
ament_target_dependencies(static_tf_broadcaster rclcpp tf2 tf2_ros geometry_msgs tf2_geometry_msgs)
add_executable(dynamic_tf_broadcaster src/dynamic_tf_broadcaster.cpp)
ament_target_dependencies(dynamic_tf_broadcaster rclcpp tf2 tf2_ros geometry_msgs tf2_geometry_msgs)
add_executable(tf_listener src/tf_listener.cpp)
ament_target_dependencies(tf_listener rclcpp tf2 tf2_ros geometry_msgs tf2_geometry_msgs)
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()
install(TARGETS
tf_listener
static_tf_broadcaster
dynamic_tf_broadcaster
DESTINATION lib/${PROJECT_NAME}
)
ament_package()

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chapt5/chapt5_ws/src/demo_cpp_tf/LICENSE Normal file
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Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as defined by Sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by
the copyright owner that is granting the License.
"Legal Entity" shall mean the union of the acting entity and all
other entities that control, are controlled by, or are under common
control with that entity. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or
Object form, made available under the License, as indicated by a
copyright notice that is included in or attached to the work
(an example is provided in the Appendix below).
"Derivative Works" shall mean any work, whether in Source or Object
form, that is based on (or derived from) the Work and for which the
editorial revisions, annotations, elaborations, or other modifications
represent, as a whole, an original work of authorship. For the purposes
of this License, Derivative Works shall not include works that remain
separable from, or merely link (or bind by name) to the interfaces of,
the Work and Derivative Works thereof.
"Contribution" shall mean any work of authorship, including
the original version of the Work and any modifications or additions
to that Work or Derivative Works thereof, that is intentionally
submitted to Licensor for inclusion in the Work by the copyright owner
or by an individual or Legal Entity authorized to submit on behalf of
the copyright owner. For the purposes of this definition, "submitted"
means any form of electronic, verbal, or written communication sent
to the Licensor or its representatives, including but not limited to
communication on electronic mailing lists, source code control systems,
and issue tracking systems that are managed by, or on behalf of, the
Licensor for the purpose of discussing and improving the Work, but
excluding communication that is conspicuously marked or otherwise
designated in writing by the copyright owner as "Not a Contribution."
"Contributor" shall mean Licensor and any individual or Legal Entity
on behalf of whom a Contribution has been received by Licensor and
subsequently incorporated within the Work.
2. Grant of Copyright License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
copyright license to reproduce, prepare Derivative Works of,
publicly display, publicly perform, sublicense, and distribute the
Work and such Derivative Works in Source or Object form.
3. Grant of Patent License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
(except as stated in this section) patent license to make, have made,
use, offer to sell, sell, import, and otherwise transfer the Work,
where such license applies only to those patent claims licensable
by such Contributor that are necessarily infringed by their
Contribution(s) alone or by combination of their Contribution(s)
with the Work to which such Contribution(s) was submitted. If You
institute patent litigation against any entity (including a
cross-claim or counterclaim in a lawsuit) alleging that the Work
or a Contribution incorporated within the Work constitutes direct
or contributory patent infringement, then any patent licenses
granted to You under this License for that Work shall terminate
as of the date such litigation is filed.
4. Redistribution. You may reproduce and distribute copies of the
Work or Derivative Works thereof in any medium, with or without
modifications, and in Source or Object form, provided that You
meet the following conditions:
(a) You must give any other recipients of the Work or
Derivative Works a copy of this License; and
(b) You must cause any modified files to carry prominent notices
stating that You changed the files; and
(c) You must retain, in the Source form of any Derivative Works
that You distribute, all copyright, patent, trademark, and
attribution notices from the Source form of the Work,
excluding those notices that do not pertain to any part of
the Derivative Works; and
(d) If the Work includes a "NOTICE" text file as part of its
distribution, then any Derivative Works that You distribute must
include a readable copy of the attribution notices contained
within such NOTICE file, excluding those notices that do not
pertain to any part of the Derivative Works, in at least one
of the following places: within a NOTICE text file distributed
as part of the Derivative Works; within the Source form or
documentation, if provided along with the Derivative Works; or,
within a display generated by the Derivative Works, if and
wherever such third-party notices normally appear. The contents
of the NOTICE file are for informational purposes only and
do not modify the License. You may add Your own attribution
notices within Derivative Works that You distribute, alongside
or as an addendum to the NOTICE text from the Work, provided
that such additional attribution notices cannot be construed
as modifying the License.
You may add Your own copyright statement to Your modifications and
may provide additional or different license terms and conditions
for use, reproduction, or distribution of Your modifications, or
for any such Derivative Works as a whole, provided Your use,
reproduction, and distribution of the Work otherwise complies with
the conditions stated in this License.
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
6. Trademarks. This License does not grant permission to use the trade
names, trademarks, service marks, or product names of the Licensor,
except as required for reasonable and customary use in describing the
origin of the Work and reproducing the content of the NOTICE file.
7. Disclaimer of Warranty. Unless required by applicable law or
agreed to in writing, Licensor provides the Work (and each
Contributor provides its Contributions) on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
implied, including, without limitation, any warranties or conditions
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
PARTICULAR PURPOSE. You are solely responsible for determining the
appropriateness of using or redistributing the Work and assume any
risks associated with Your exercise of permissions under this License.
8. Limitation of Liability. In no event and under no legal theory,
whether in tort (including negligence), contract, or otherwise,
unless required by applicable law (such as deliberate and grossly
negligent acts) or agreed to in writing, shall any Contributor be
liable to You for damages, including any direct, indirect, special,
incidental, or consequential damages of any character arising as a
result of this License or out of the use or inability to use the
Work (including but not limited to damages for loss of goodwill,
work stoppage, computer failure or malfunction, or any and all
other commercial damages or losses), even if such Contributor
has been advised of the possibility of such damages.
9. Accepting Warranty or Additional Liability. While redistributing
the Work or Derivative Works thereof, You may choose to offer,
and charge a fee for, acceptance of support, warranty, indemnity,
or other liability obligations and/or rights consistent with this
License. However, in accepting such obligations, You may act only
on Your own behalf and on Your sole responsibility, not on behalf
of any other Contributor, and only if You agree to indemnify,
defend, and hold each Contributor harmless for any liability
incurred by, or claims asserted against, such Contributor by reason
of your accepting any such warranty or additional liability.
END OF TERMS AND CONDITIONS
APPENDIX: How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following
boilerplate notice, with the fields enclosed by brackets "[]"
replaced with your own identifying information. (Don't include
the brackets!) The text should be enclosed in the appropriate
comment syntax for the file format. We also recommend that a
file or class name and description of purpose be included on the
same "printed page" as the copyright notice for easier
identification within third-party archives.
Copyright [yyyy] [name of copyright owner]
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

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chapt5/chapt5_ws/src/demo_cpp_tf/package.xml Normal file
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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>demo_cpp_tf</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="mzebra@foxmail.com">mzebra</maintainer>
<license>Apache-2.0</license>
<buildtool_depend>ament_cmake</buildtool_depend>
<depend>rclcpp</depend>
<depend>tf2</depend>
<depend>tf2_ros</depend>
<depend>geometry_msgs</depend>
<depend>tf2_geometry_msgs</depend>
<test_depend>ament_lint_auto</test_depend>
<test_depend>ament_lint_common</test_depend>
<export>
<build_type>ament_cmake</build_type>
</export>
</package>

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chapt5/chapt5_ws/src/demo_cpp_tf/src/dynamic_tf_broadcaster.cpp Normal file
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#include <memory>
#include "geometry_msgs/msg/transform_stamped.hpp" // 提供消息接口
#include "rclcpp/rclcpp.hpp"
#include "tf2/LinearMath/Quaternion.h" // 提供 tf2::Quaternion 类
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" // 提供消息类型转换函数
#include "tf2_ros/transform_broadcaster.h" // 提供坐标广播器类
#include <chrono> // 引入时间相关头文件
// 使用时间单位的字面量，可以在代码中使用 s 和 ms 表示时间
using namespace std::chrono_literals;
class DynamicTFBroadcaster : public rclcpp::Node
{
public:
DynamicTFBroadcaster() : Node("dynamic_tf_broadcaster")
{
tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(this);
timer_ = create_wall_timer(10ms, std::bind(&DynamicTFBroadcaster::publishTransform, this));
}
void publishTransform()
{
geometry_msgs::msg::TransformStamped transform;
transform.header.stamp = this->get_clock()->now();
transform.header.frame_id = "map";
transform.child_frame_id = "base_link";
transform.transform.translation.x = 2.0;
transform.transform.translation.y = 3.0;
transform.transform.translation.z = 0.0;
tf2::Quaternion quat;
quat.setRPY(0, 0, 30 * M_PI / 180); // 弧度制欧拉角转四元数
transform.transform.rotation = tf2::toMsg(quat); // 转成消息接口类型
tf_broadcaster_->sendTransform(transform);
}
private:
std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
rclcpp::TimerBase::SharedPtr timer_;
};
int main(int argc, char **argv)
{
rclcpp::init(argc, argv);
auto node = std::make_shared<DynamicTFBroadcaster>();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}

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chapt5/chapt5_ws/src/demo_cpp_tf/src/static_tf_broadcaster.cpp Normal file
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#include <memory>
#include "geometry_msgs/msg/transform_stamped.hpp" // 提供消息接口
#include "rclcpp/rclcpp.hpp"
#include "tf2/LinearMath/Quaternion.h" // 提供 tf2::Quaternion 类
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" // 提供消息类型转换函数
#include "tf2_ros/static_transform_broadcaster.h" // 提供静态坐标广播器类
class StaticTFBroadcaster : public rclcpp::Node {
public:
StaticTFBroadcaster() : Node("tf_broadcaster_node") {
// 创建静态广播发发布器并发布
broadcaster_ = std::make_shared<tf2_ros::StaticTransformBroadcaster>(this);
this->publish_tf();
}
void publish_tf() {
geometry_msgs::msg::TransformStamped transform;
transform.header.stamp = this->get_clock()->now();
transform.header.frame_id = "map";
transform.child_frame_id = "target_point";
transform.transform.translation.x = 5.0;
transform.transform.translation.y = 3.0;
transform.transform.translation.z = 0.0;
tf2::Quaternion quat;
quat.setRPY(0, 0, 60 * M_PI / 180); // 弧度制欧拉角转四元数
transform.transform.rotation = tf2::toMsg(quat); // 转成消息接口类型
broadcaster_->sendTransform(transform);
}
private:
std::shared_ptr<tf2_ros::StaticTransformBroadcaster> broadcaster_;
};
int main(int argc, char** argv) {
rclcpp::init(argc, argv);
auto node = std::make_shared<StaticTFBroadcaster>();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}

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chapt5/chapt5_ws/src/demo_cpp_tf/src/tf_listener.cpp Normal file
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#include <memory>
#include "geometry_msgs/msg/transform_stamped.hpp" // 提供消息接口
#include "rclcpp/rclcpp.hpp"
#include "tf2/LinearMath/Quaternion.h" // 提供 tf2::Quaternion 类
#include "tf2/utils.h" // 提供 tf2::getEulerYPR 函数
#include "tf2_geometry_msgs/tf2_geometry_msgs.hpp" // 提供消息类型转换函数
#include "tf2_ros/buffer.h" // 提供 TF 缓冲类 Buffer
#include "tf2_ros/transform_listener.h" // 提供坐标监听器类
#include <chrono> // 引入时间相关头文件
using namespace std::chrono_literals;
class TFListener : public rclcpp::Node {
public:
TFListener() : Node("tf_listener") {
buffer_ = std::make_unique<tf2_ros::Buffer>(this->get_clock());
listener_ = std::make_shared<tf2_ros::TransformListener>(*buffer_, this);
timer_ = this->create_wall_timer(5s, std::bind(&TFListener::getTransform, this));
}
void getTransform() {
try {
// 等待变换可用
const auto transform = buffer_->lookupTransform(
"base_link", "target_point", this->get_clock()->now(),
rclcpp::Duration::from_seconds(1.0f));
// 转换结果及打印
const auto &translation = transform.transform.translation;
const auto &rotation = transform.transform.rotation;
double yaw, pitch, roll;
tf2::getEulerYPR(rotation, yaw, pitch, roll); // 四元数转欧拉角
RCLCPP_INFO(get_logger(), "平移分量: (%f, %f, %f)", translation.x,
translation.y, translation.z);
RCLCPP_INFO(get_logger(), "旋转分量: (%f, %f, %f)", roll, pitch, yaw);
} catch (tf2::TransformException &ex) {
RCLCPP_WARN(get_logger(), "异常: %s", ex.what()); // 处理异常
}
}
private:
std::unique_ptr<tf2_ros::Buffer> buffer_;
std::shared_ptr<tf2_ros::TransformListener> listener_;
rclcpp::TimerBase::SharedPtr timer_;
};
int main(int argc, char **argv) {
rclcpp::init(argc, argv);
auto node = std::make_shared<TFListener>();
rclcpp::spin(node);
rclcpp::shutdown();
return 0;
}

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chapt5/chapt5_ws/src/demo_python_tf/LICENSE Normal file
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Apache License
Version 2.0, January 2004
http://www.apache.org/licenses/
TERMS AND CONDITIONS FOR USE, REPRODUCTION, AND DISTRIBUTION
1. Definitions.
"License" shall mean the terms and conditions for use, reproduction,
and distribution as defined by Sections 1 through 9 of this document.
"Licensor" shall mean the copyright owner or entity authorized by
the copyright owner that is granting the License.
"Legal Entity" shall mean the union of the acting entity and all
other entities that control, are controlled by, or are under common
control with that entity. For the purposes of this definition,
"control" means (i) the power, direct or indirect, to cause the
direction or management of such entity, whether by contract or
otherwise, or (ii) ownership of fifty percent (50%) or more of the
outstanding shares, or (iii) beneficial ownership of such entity.
"You" (or "Your") shall mean an individual or Legal Entity
exercising permissions granted by this License.
"Source" form shall mean the preferred form for making modifications,
including but not limited to software source code, documentation
source, and configuration files.
"Object" form shall mean any form resulting from mechanical
transformation or translation of a Source form, including but
not limited to compiled object code, generated documentation,
and conversions to other media types.
"Work" shall mean the work of authorship, whether in Source or
Object form, made available under the License, as indicated by a
copyright notice that is included in or attached to the work
(an example is provided in the Appendix below).
"Derivative Works" shall mean any work, whether in Source or Object
form, that is based on (or derived from) the Work and for which the
editorial revisions, annotations, elaborations, or other modifications
represent, as a whole, an original work of authorship. For the purposes
of this License, Derivative Works shall not include works that remain
separable from, or merely link (or bind by name) to the interfaces of,
the Work and Derivative Works thereof.
"Contribution" shall mean any work of authorship, including
the original version of the Work and any modifications or additions
to that Work or Derivative Works thereof, that is intentionally
submitted to Licensor for inclusion in the Work by the copyright owner
or by an individual or Legal Entity authorized to submit on behalf of
the copyright owner. For the purposes of this definition, "submitted"
means any form of electronic, verbal, or written communication sent
to the Licensor or its representatives, including but not limited to
communication on electronic mailing lists, source code control systems,
and issue tracking systems that are managed by, or on behalf of, the
Licensor for the purpose of discussing and improving the Work, but
excluding communication that is conspicuously marked or otherwise
designated in writing by the copyright owner as "Not a Contribution."
"Contributor" shall mean Licensor and any individual or Legal Entity
on behalf of whom a Contribution has been received by Licensor and
subsequently incorporated within the Work.
2. Grant of Copyright License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
copyright license to reproduce, prepare Derivative Works of,
publicly display, publicly perform, sublicense, and distribute the
Work and such Derivative Works in Source or Object form.
3. Grant of Patent License. Subject to the terms and conditions of
this License, each Contributor hereby grants to You a perpetual,
worldwide, non-exclusive, no-charge, royalty-free, irrevocable
(except as stated in this section) patent license to make, have made,
use, offer to sell, sell, import, and otherwise transfer the Work,
where such license applies only to those patent claims licensable
by such Contributor that are necessarily infringed by their
Contribution(s) alone or by combination of their Contribution(s)
with the Work to which such Contribution(s) was submitted. If You
institute patent litigation against any entity (including a
cross-claim or counterclaim in a lawsuit) alleging that the Work
or a Contribution incorporated within the Work constitutes direct
or contributory patent infringement, then any patent licenses
granted to You under this License for that Work shall terminate
as of the date such litigation is filed.
4. Redistribution. You may reproduce and distribute copies of the
Work or Derivative Works thereof in any medium, with or without
modifications, and in Source or Object form, provided that You
meet the following conditions:
(a) You must give any other recipients of the Work or
Derivative Works a copy of this License; and
(b) You must cause any modified files to carry prominent notices
stating that You changed the files; and
(c) You must retain, in the Source form of any Derivative Works
that You distribute, all copyright, patent, trademark, and
attribution notices from the Source form of the Work,
excluding those notices that do not pertain to any part of
the Derivative Works; and
(d) If the Work includes a "NOTICE" text file as part of its
distribution, then any Derivative Works that You distribute must
include a readable copy of the attribution notices contained
within such NOTICE file, excluding those notices that do not
pertain to any part of the Derivative Works, in at least one
of the following places: within a NOTICE text file distributed
as part of the Derivative Works; within the Source form or
documentation, if provided along with the Derivative Works; or,
within a display generated by the Derivative Works, if and
wherever such third-party notices normally appear. The contents
of the NOTICE file are for informational purposes only and
do not modify the License. You may add Your own attribution
notices within Derivative Works that You distribute, alongside
or as an addendum to the NOTICE text from the Work, provided
that such additional attribution notices cannot be construed
as modifying the License.
You may add Your own copyright statement to Your modifications and
may provide additional or different license terms and conditions
for use, reproduction, or distribution of Your modifications, or
for any such Derivative Works as a whole, provided Your use,
reproduction, and distribution of the Work otherwise complies with
the conditions stated in this License.
5. Submission of Contributions. Unless You explicitly state otherwise,
any Contribution intentionally submitted for inclusion in the Work
by You to the Licensor shall be under the terms and conditions of
this License, without any additional terms or conditions.
Notwithstanding the above, nothing herein shall supersede or modify
the terms of any separate license agreement you may have executed
with Licensor regarding such Contributions.
6. Trademarks. This License does not grant permission to use the trade
names, trademarks, service marks, or product names of the Licensor,
except as required for reasonable and customary use in describing the
origin of the Work and reproducing the content of the NOTICE file.
7. Disclaimer of Warranty. Unless required by applicable law or
agreed to in writing, Licensor provides the Work (and each
Contributor provides its Contributions) on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or
implied, including, without limitation, any warranties or conditions
of TITLE, NON-INFRINGEMENT, MERCHANTABILITY, or FITNESS FOR A
PARTICULAR PURPOSE. You are solely responsible for determining the
appropriateness of using or redistributing the Work and assume any
risks associated with Your exercise of permissions under this License.
8. Limitation of Liability. In no event and under no legal theory,
whether in tort (including negligence), contract, or otherwise,
unless required by applicable law (such as deliberate and grossly
negligent acts) or agreed to in writing, shall any Contributor be
liable to You for damages, including any direct, indirect, special,
incidental, or consequential damages of any character arising as a
result of this License or out of the use or inability to use the
Work (including but not limited to damages for loss of goodwill,
work stoppage, computer failure or malfunction, or any and all
other commercial damages or losses), even if such Contributor
has been advised of the possibility of such damages.
9. Accepting Warranty or Additional Liability. While redistributing
the Work or Derivative Works thereof, You may choose to offer,
and charge a fee for, acceptance of support, warranty, indemnity,
or other liability obligations and/or rights consistent with this
License. However, in accepting such obligations, You may act only
on Your own behalf and on Your sole responsibility, not on behalf
of any other Contributor, and only if You agree to indemnify,
defend, and hold each Contributor harmless for any liability
incurred by, or claims asserted against, such Contributor by reason
of your accepting any such warranty or additional liability.
END OF TERMS AND CONDITIONS
APPENDIX: How to apply the Apache License to your work.
To apply the Apache License to your work, attach the following
boilerplate notice, with the fields enclosed by brackets "[]"
replaced with your own identifying information. (Don't include
the brackets!) The text should be enclosed in the appropriate
comment syntax for the file format. We also recommend that a
file or class name and description of purpose be included on the
same "printed page" as the copyright notice for easier
identification within third-party archives.
Copyright [yyyy] [name of copyright owner]
Licensed under the Apache License, Version 2.0 (the "License");
you may not use this file except in compliance with the License.
You may obtain a copy of the License at
http://www.apache.org/licenses/LICENSE-2.0
Unless required by applicable law or agreed to in writing, software
distributed under the License is distributed on an "AS IS" BASIS,
WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
See the License for the specific language governing permissions and
limitations under the License.

0
chapt5/chapt5_ws/src/demo_python_tf/demo_python_tf/__init__.py Normal file
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35
chapt5/chapt5_ws/src/demo_python_tf/demo_python_tf/dynamic_tf_broadcaster.py Normal file
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import rclpy
from rclpy.node import Node
from tf2_ros import TransformBroadcaster
from geometry_msgs.msg import TransformStamped
from tf_transformations import quaternion_from_euler
class DynamicTFBroadcaster(Node):
def __init__(self):
super().__init__("tf_node")
self.tf_broadcaster_ = TransformBroadcaster(self)
# 动态TF需要持续发布，这里发布频率设置为 100HZ
self.timer_ = self.create_timer(0.01, self.publish_transform)
def publish_transform(self):
transform = TransformStamped()
transform.header.stamp = self.get_clock().now().to_msg()
transform.header.frame_id = "camera_link"
transform.child_frame_id = "bottle_link"
transform.transform.translation.x = 0.2
transform.transform.translation.y = 0.0
transform.transform.translation.z = 0.5
rotation_quat = quaternion_from_euler(0, 0, 0)
transform.transform.rotation.x = rotation_quat[0]
transform.transform.rotation.y = rotation_quat[1]
transform.transform.rotation.z = rotation_quat[2]
transform.transform.rotation.w = rotation_quat[3]
self.tf_broadcaster_.sendTransform(transform)
def main():
rclpy.init()
tf_node = DynamicTFBroadcaster()
rclpy.spin(tf_node)
rclpy.shutdown()

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chapt5/chapt5_ws/src/demo_python_tf/demo_python_tf/static_tf_broadcaster.py Normal file
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import math
import rclpy
from rclpy.node import Node
from tf2_ros import StaticTransformBroadcaster
from geometry_msgs.msg import TransformStamped
from tf_transformations import quaternion_from_euler
class StaticTFBroadcaster(Node):
def __init__(self):
super().__init__('static_tf2_broadcaster')
self.static_broadcaster_ = StaticTransformBroadcaster(self)
self.publish_static_tf()
def publish_static_tf(self):
transform = TransformStamped()
transform.header.stamp = self.get_clock().now().to_msg()
transform.header.frame_id = "base_link"
transform.child_frame_id = "camera_link"
transform.transform.translation.x = 0.5
transform.transform.translation.y = 0.3
transform.transform.translation.z = 0.6
# 欧拉角转四元数
rotation_quat = quaternion_from_euler(math.radians(180), 0, 0)
transform.transform.rotation.x = rotation_quat[0]
transform.transform.rotation.y = rotation_quat[1]
transform.transform.rotation.z = rotation_quat[2]
transform.transform.rotation.w = rotation_quat[3]
# 发布静态坐标变换
self.static_broadcaster_.sendTransform(transform)
self.get_logger().info(f"发布 TF:{transform}")
def main():
rclpy.init()
static_tf_broadcaster = StaticTFBroadcaster()
rclpy.spin(static_tf_broadcaster)
rclpy.shutdown()

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chapt5/chapt5_ws/src/demo_python_tf/demo_python_tf/tf_listener.py Normal file
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import rclpy
from rclpy.node import Node
from tf2_ros import TransformListener, Buffer
from tf_transformations import euler_from_quaternion
class TFListener(Node):
def __init__(self):
super().__init__("tf2_listener")
self.buffer_ = Buffer()
self.listener_ = TransformListener(self.buffer_, self)
self.timer_ = self.create_timer(1, self.get_transform)
def get_transform(self):
try:
result = self.buffer_.lookup_transform("base_link", "bottle_link", rclpy.time.Time(seconds=0), rclpy.time.Duration(seconds=1))
transform = result.transform
rotation_euler = euler_from_quaternion([
transform.rotation.x,
transform.rotation.y,
transform.rotation.z,
transform.rotation.w
])
self.get_logger().info(f"平移:{transform.translation},旋转四元数:{transform.rotation}:旋转欧拉角:{rotation_euler}")
except Exception as e:
self.get_logger().warn(f"不能够获取坐标变换，原因: {str(e)}")
def main():
rclpy.init()
node = TFListener()
rclpy.spin(node)
rclpy.shutdown()

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<?xml version="1.0"?>
<?xml-model href="http://download.ros.org/schema/package_format3.xsd" schematypens="http://www.w3.org/2001/XMLSchema"?>
<package format="3">
<name>demo_python_tf</name>
<version>0.0.0</version>
<description>TODO: Package description</description>
<maintainer email="mzebra@foxmail.com">mzebra</maintainer>
<license>Apache-2.0</license>
<depend>rclpy</depend>
<depend>geometry_msgs</depend>
<depend>tf_ros</depend>
<depend>tf_transformations</depend>
<test_depend>ament_copyright</test_depend>
<test_depend>ament_flake8</test_depend>
<test_depend>ament_pep257</test_depend>
<test_depend>python3-pytest</test_depend>
<export>
<build_type>ament_python</build_type>
</export>
</package>

0
chapt5/chapt5_ws/src/demo_python_tf/resource/demo_python_tf Normal file
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chapt5/chapt5_ws/src/demo_python_tf/setup.cfg Normal file
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[develop]
script_dir=$base/lib/demo_python_tf
[install]
install_scripts=$base/lib/demo_python_tf

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from setuptools import find_packages, setup
package_name = 'demo_python_tf'
setup(
name=package_name,
version='0.0.0',
packages=find_packages(exclude=['test']),
data_files=[
('share/ament_index/resource_index/packages',
['resource/' + package_name]),
('share/' + package_name, ['package.xml']),
],
install_requires=['setuptools'],
zip_safe=True,
maintainer='mzebra',
maintainer_email='mzebra@foxmail.com',
description='TODO: Package description',
license='Apache-2.0',
tests_require=['pytest'],
entry_points={
'console_scripts': [
'static_tf_broadcaster=demo_python_tf.static_tf_broadcaster:main',
'dynamic_tf_broadcaster=demo_python_tf.dynamic_tf_broadcaster:main',
'tf_listener=demo_python_tf.tf_listener:main',
],
},
)

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chapt5/chapt5_ws/src/demo_python_tf/test/test_copyright.py Normal file
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_copyright.main import main
import pytest
# Remove the `skip` decorator once the source file(s) have a copyright header
@pytest.mark.skip(reason='No copyright header has been placed in the generated source file.')
@pytest.mark.copyright
@pytest.mark.linter
def test_copyright():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found errors'

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chapt5/chapt5_ws/src/demo_python_tf/test/test_flake8.py Normal file
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# Copyright 2017 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_flake8.main import main_with_errors
import pytest
@pytest.mark.flake8
@pytest.mark.linter
def test_flake8():
rc, errors = main_with_errors(argv=[])
assert rc == 0, \
'Found %d code style errors / warnings:\n' % len(errors) + \
'\n'.join(errors)

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chapt5/chapt5_ws/src/demo_python_tf/test/test_pep257.py Normal file
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# Copyright 2015 Open Source Robotics Foundation, Inc.
#
# Licensed under the Apache License, Version 2.0 (the "License");
# you may not use this file except in compliance with the License.
# You may obtain a copy of the License at
#
# http://www.apache.org/licenses/LICENSE-2.0
#
# Unless required by applicable law or agreed to in writing, software
# distributed under the License is distributed on an "AS IS" BASIS,
# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
# See the License for the specific language governing permissions and
# limitations under the License.
from ament_pep257.main import main
import pytest
@pytest.mark.linter
@pytest.mark.pep257
def test_pep257():
rc = main(argv=['.', 'test'])
assert rc == 0, 'Found code style errors / warnings'