"qrcamera" passed to lookupTransform argument target_frame does not exist.

最新推荐文章于 2025-06-06 14:41:26 发布

彩云的笔记

最新推荐文章于 2025-06-06 14:41:26 发布

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分类专栏：无人驾驶 cpp

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本文介绍了一个使用ROS的TF2库进行坐标变换监听并控制机器人速度的示例程序。通过查找“qrcamera”到“marker”的变换，程序获取了位置信息，并将这些信息用于控制机器人运动。示例中，机器人被设定为沿x轴正方向以固定速度移动。

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$rosrun tf tf_echo qrcamera marker

http://docs.ros.org/indigo/api/tf2_ros/html/c++/classtf2__ros_1_1Buffer.html#acabbd72cae8f49fb3b6ede3be7e34c55

#include <ros/ros.h>
#include <tf2_ros/transform_listener.h>
#include <geometry_msgs/TransformStamped.h>
#include <geometry_msgs/Twist.h>
#include <turtlesim/Spawn.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "my_tf2_listener");

  ros::NodeHandle node;
 
  ros::Publisher turtle_vel =
    node.advertise<geometry_msgs::Twist>("/qrpose", 10);

  tf2_ros::Buffer tfBuffer;
  tf2_ros::TransformListener tfListener(tfBuffer);

  ros::Rate rate(10.0);
  while (node.ok()){
		ros::spinOnce();
    geometry_msgs::TransformStamped transformStamped;
    try{
 ros::Time now = ros::Time::now();
      transformStamped = tfBuffer.lookupTransform("qrcamera", "marker",
                               ros::Time(0), ros::Duration(1));
std::cout<<"transformstamped:\n";
		std::cout<<	transformStamped.transform.translation.x<<",";
		std::cout<<	transformStamped.transform.translation.y<<",";
		std::cout<<	transformStamped.transform.translation.z<<"\n****\n";
    }
    catch (tf2::TransformException &ex) {
      ROS_WARN("%s",ex.what());
      ros::Duration(1.0).sleep();
      continue;
    }

    geometry_msgs::Twist vel_msg;
     
    vel_msg.angular.z = 0;
    vel_msg.linear.x = 0.5 ;
    turtle_vel.publish(vel_msg);
    
    rate.sleep();
  }
  return 0;
};

static tf2_ros::TransformBroadcaster br;

   transformStamped.header.stamp = ros::Time::now();
   transformStamped.header.frame_id = "qrcamera";
   transformStamped.child_frame_id = "marker";
   transformStamped.transform.translation.x = bc_cv.getX();
   transformStamped.transform.translation.y = bc_cv.getY();
   transformStamped.transform.translation.z = 0.0;
   tf2::Quaternion q;
q.setRPY(0, 0, -yaw);
   transformStamped.transform.rotation.x = q.x();
   transformStamped.transform.rotation.y = q.y();
   transformStamped.transform.rotation.z = q.z();
   transformStamped.transform.rotation.w = q.w();

br.sendTransform(transformStamped);