new tf and launch file

catkin_ws/src/asclinic_pkg/CMakeLists.txt

@@ -13,6 +13,7 @@ find_package(catkin REQUIRED COMPONENTS
   rospy
   std_msgs
   geometry_msgs
+  tf2_ros
   tf
   sensor_msgs
   cv_bridge
@@ -99,6 +100,7 @@ generate_messages(
   std_msgs
   geometry_msgs
   sensor_msgs
+
 )
 
 ################################################
@@ -221,6 +223,7 @@ add_executable(fcontroller1                          src/ascr/fcontroller1.cpp)
 add_executable(final_controller                      src/ascr/final_controller.cpp)
 add_executable(control_node                          src/forklift/control_node.cpp)
 add_executable(odometry_new                          src/forklift/odometry_new.cpp)
+add_executable(tftransfer                            src/forklift/tftransfer.cpp)
 
 ## Rename C++ executable without prefix 
 ## The above recommended prefix causes long target names, the following renames the
@@ -257,6 +260,7 @@ add_dependencies(fcontroller1                          asclinic_pkg_generate_mes
 add_dependencies(final_controller                      asclinic_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
 add_dependencies(control_node                          asclinic_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
 add_dependencies(odometry_new                          asclinic_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
+add_dependencies(tftransfer                            asclinic_pkg_generate_messages_cpp ${catkin_EXPORTED_TARGETS})
 
 
 
@@ -290,6 +294,7 @@ target_link_libraries(fcontroller1                          ${catkin_LIBRARIES})
 target_link_libraries(final_controller                      ${catkin_LIBRARIES})
 target_link_libraries(control_node                          ${catkin_LIBRARIES})
 target_link_libraries(odometry_new                          ${catkin_LIBRARIES})
+target_link_libraries(tftransfer                            ${catkin_LIBRARIES})
 
 
 

catkin_ws/src/asclinic_pkg/launch/forklift2.launch

+<launch>
+    <!-- Launch the tf transfer node -->
+    <node
+        pkg="asclinic_pkg"
+        type="tftransfer"
+        name="tftransfer"
+    />
+
+    <!-- Launch the I2C for Motors node -->
+    <node
+        pkg="asclinic_pkg"
+        type="odometry_new"
+        name="odometry_new"
+    />
+
+    <!-- Launch the control node -->
+    <node
+        pkg="asclinic_pkg"
+        type="control_node"
+        name="control_node"
+    />
+
+    <!-- Launch the RPLIDAR node within the "asc" namespace -->
+    <group ns="asc">
+        <node
+            pkg="rplidar_ros"
+            type="rplidarNode"
+            name="rplidarNode"
+            output="screen"
+        >
+            <param name="serial_port" type="string" value="/dev/rplidar"/>
+            <param name="serial_baudrate" type="int" value="115200"/>
+            <param name="frame_id" type="string" value="laser"/>
+            <param name="inverted" type="bool" value="false"/>
+            <param name="angle_compensate" type="bool" value="true"/>
+        </node>
+    </group>
+</launch>

catkin_ws/src/asclinic_pkg/launch/gmapping.launch

 <launch>
   <!-- Launch the RPLIDAR node -->
-  <group ns="asc">
-    <node
-      pkg="rplidar_ros"
-      name="rplidarNode"
-      output="screen"
-      type="rplidarNode">
-      <param name="serial_port" type="string" value="/dev/rplidar"/>
-      <param name="serial_baudrate" type="int" value="115200"/>
-      <param name="frame_id" type="string" value="laser"/>
-      <param name="inverted" type="bool" value="false"/>
-      <param name="angle_compensate" type="bool" value="true"/>
-    </node>
-  </group>
+
 
  
   <node pkg="tf2_ros" type="static_transform_publisher" name="base_to_laser" args="0 0 1 0 0 0 base_link laser" />

catkin_ws/src/asclinic_pkg/src/forklift/tftransfer.cpp

+#include <ros/ros.h>
+#include <tf2_ros/transform_broadcaster.h>
+#include <geometry_msgs/TransformStamped.h>
+#include <nav_msgs/Odometry.h>
+
+// 里程计回调函数，用于发布 TF 变换
+void odomCallback(const nav_msgs::Odometry::ConstPtr& msg)
+{
+    static tf2_ros::TransformBroadcaster br;
+    geometry_msgs::TransformStamped transformStamped;
+
+    // 填充变换消息
+    transformStamped.header.stamp = msg->header.stamp;
+    transformStamped.header.frame_id = "odom";
+    transformStamped.child_frame_id = "base_link";
+
+    transformStamped.transform.translation.x = msg->pose.pose.position.x;
+    transformStamped.transform.translation.y = msg->pose.pose.position.y;
+    transformStamped.transform.translation.z = msg->pose.pose.position.z;
+    transformStamped.transform.rotation = msg->pose.pose.orientation;
+
+    // 发布变换
+    br.sendTransform(transformStamped);
+}
+
+int main(int argc, char** argv)
+{
+    ros::init(argc, argv, "tftransfer");
+    ros::NodeHandle nh;
+
+    // 订阅 /odom 话题
+    ros::Subscriber sub = nh.subscribe("/odom", 1, odomCallback);
+
+    ros::spin();
+
+    return 0;
+}