#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <geometry_msgs/Twist.h>
#include <nav_msgs/Odometry.h>
//#include "sensor_msgs/LaserScan.h"
int main(int argc, char** argv)
{
// 初始化ROS节点
ros::init(argc, argv, "my_tf_listener");
// 创建节点句柄
ros::NodeHandle node;
// 请求产生turtle2
//ros::service::waitForService("/spawn");
//ros::ServiceClient add_turtle = node.serviceClient<turtlesim::Spawn>("/spawn");
//turtlesim::Spawn srv;
//add_turtle.call(srv);
// 创建发布tb3_1速度控制指令的发布者
ros::Publisher tb3_1_vel = node.advertise<geometry_msgs::Twist>("/tb3_1/cmd_vel", 10);
// 创建tf的监听器
tf::TransformListener listener;
ros::Rate rate(10.0);
while (node.ok())
{
// 获取turtle1与turtle2坐标系之间的tf数据
tf::StampedTransform transformfl;
tf::StampedTransform transformlf;
try
{
listener.waitForTransform("/tb3_1", "/tb3_0", ros::Time(0), ros::Duration(3.0));
listener.lookupTransform("/tb3_1", "/tb3_0", ros::Time(0), transformfl);
}
catch (tf::TransformException &ex)
{
ROS_ERROR("%s",ex.what());
ros::Duration(1.0).sleep();
continue;
}
try
{
listener.waitForTransform("/tb3_0", "/tb3_1", ros::Time(0), ros::Duration(3.0));
listener.lookupTransform("/tb3_0", "/tb3_1", ros::Time(0), transformlf);
}
catch (tf::TransformException &ex)
{
ROS_ERROR("%s",ex.what());
ros::Duration(1.0).sleep();
continue;
}
// 根据tb3_0与tb3_1坐标系之间的位置关系,发布turtle2的速度控制指令
geometry_msgs::Twist vel_msg;
vel_msg.angular.z = 4.0 * atan2(transformfl.getOrigin().y(),
transformfl.getOrigin().x());
vel_msg.linear.x = 0.5 * sqrt(pow(transformfl.getOrigin().x(), 2) +
pow(transformfl.getOrigin().y(), 2));
tb3_1_vel.publish(vel_msg);
rate.sleep();
}
return 0;
};
[ERROR] [1656421855.916557663, 1555.157000000]: "tb3_1" passed to lookupTransform argument target_frame does not exist.
[ERROR] [1656421855.918328441, 1555.157000000]: "tb3_2" passed to lookupTransform argument target_frame does not exist.
[ERROR] [1656421866.145205622, 1559.173000000]: "tb3_2" passed to lookupTransform argument target_frame does not exist.
[ERROR] [1656421866.171490634, 1559.180000000]: "tb3_1" passed to lookupTransform argument target_frame does not exist.
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