From 467199ef0002182bbc7aea82de9b2da5678c499c Mon Sep 17 00:00:00 2001
From: Ethan <jiaao@student.unimelb.edu.au>
Date: Tue, 6 Aug 2024 14:22:01 +0800
Subject: [PATCH] new tf and launch file
---
catkin_ws/src/asclinic_pkg/CMakeLists.txt | 5 +++
.../src/asclinic_pkg/launch/forklift2.launch | 38 +++++++++++++++++++
.../src/asclinic_pkg/launch/gmapping.launch | 14 +------
.../asclinic_pkg/src/forklift/tftransfer.cpp | 37 ++++++++++++++++++
4 files changed, 81 insertions(+), 13 deletions(-)
create mode 100644 catkin_ws/src/asclinic_pkg/launch/forklift2.launch
create mode 100644 catkin_ws/src/asclinic_pkg/src/forklift/tftransfer.cpp
diff --git a/catkin_ws/src/asclinic_pkg/CMakeLists.txt b/catkin_ws/src/asclinic_pkg/CMakeLists.txt
index e682b6fb..c6bf59f2 100644
--- a/catkin_ws/src/asclinic_pkg/CMakeLists.txt
+++ b/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})
diff --git a/catkin_ws/src/asclinic_pkg/launch/forklift2.launch b/catkin_ws/src/asclinic_pkg/launch/forklift2.launch
new file mode 100644
index 00000000..489693bf
--- /dev/null
+++ b/catkin_ws/src/asclinic_pkg/launch/forklift2.launch
@@ -0,0 +1,38 @@
+<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>
diff --git a/catkin_ws/src/asclinic_pkg/launch/gmapping.launch b/catkin_ws/src/asclinic_pkg/launch/gmapping.launch
index a10269f6..574d231b 100644
--- a/catkin_ws/src/asclinic_pkg/launch/gmapping.launch
+++ b/catkin_ws/src/asclinic_pkg/launch/gmapping.launch
@@ -1,18 +1,6 @@
<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" />
diff --git a/catkin_ws/src/asclinic_pkg/src/forklift/tftransfer.cpp b/catkin_ws/src/asclinic_pkg/src/forklift/tftransfer.cpp
new file mode 100644
index 00000000..28a28054
--- /dev/null
+++ b/catkin_ws/src/asclinic_pkg/src/forklift/tftransfer.cpp
@@ -0,0 +1,37 @@
+#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;
+}
--
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