ROS2学习

原创已于 2023-07-25 17:03:03 修改 · 649 阅读

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#学习 #ubuntu #ros2

于 2022-07-15 16:48:21 首次发布

本文介绍了如何使用ROS2中的tf2_ros进行静态变换发布，通过`static_transform_publisher`命令行工具设置地球到地图的固定坐标变换，并展示了如何查看TF变换树及ros1与ros2之间的通信。此外，还讲解了版本切换和基础的通信程序包安装方法。

1. 静态tf变换发布

xxx.launch.py文件中

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    tf2_earth2map = Node(
            package='tf2_ros',
            executable='static_transform_publisher',
            arguments = ['0', '0', '0', '0', '0', '0', 'earth', 'map']
    )
    return LaunchDescription([
        tf2_earth2map,
   ])

命令行方式：

ros2 run tf2_ros static_transform_publisher x y z yaw pitch roll frame_id child_frame_id
ros2 run tf2_ros static_transform_publisher x y z qx qy qz qw frame_id child_frame_id

2. 查看tf变换树

ros2 run tf2_tools view_frames.py

运行该命令后生成tf变换树的PDF文件。

3.ros2与ros1通信

新开一终端，安装通信程序包

sudo apt install ros-dashing-ros1-bridge

进行ros1与ros2通信

source /opt/ros/noetic/setup.bash
source /opt/ros/foxy/setup.bash
ros2 run ros1_bridge dynamic_bridge --bridge-all-topics

4. ros1与ros2版本切换

在~/.bashrc文件末尾输入

#source /opt/ros/noetic/setup.bash
echo "ros noetic(1) or ros2 foxy(2)?"
read edition
if [ "$edition" -eq "1" ]; then
  source /opt/ros/noetic/setup.bash
  echo "ros noetic(1) has been chosen！"
else
  source /opt/ros/foxy/setup.bash
  echo "ros2 foxy(2) has been chosen！"
fi