缙云建设局网站,中国旅游网,深圳seo优化多少钱,企业策划公关公司书中程序适用于turtlebot、husky等多种机器人#xff0c;配置相似都可以用的。支持ROS2版本foxy、humble。基础检测效果如下#xff1a;由于缺#xffe5;#xff0c;所有设备都非常老旧#xff0c;都是其他实验室淘汰或者拼凑出来的设备。机器人控制笔记本是2010年版本。…书中程序适用于turtlebot、husky等多种机器人配置相似都可以用的。支持ROS2版本foxy、humble。基础检测效果如下由于缺所有设备都非常老旧都是其他实验室淘汰或者拼凑出来的设备。机器人控制笔记本是2010年版本。但是依然可以跑ROS1、ROS2。book_ros2/br2_tf2_detector目录.
├── CMakeLists.txt
├── include
│ └── br2_tf2_detector
│ ├── ObstacleDetectorImprovedNode.hpp
│ ├── ObstacleDetectorNode.hpp
│ └── ObstacleMonitorNode.hpp
├── launch
│ ├── detector_basic.launch.py
│ ├── detector_improved.launch.py
│ ├── turtlebot_detector_basic.launch.py
│ └── turtlebot_detector_improved.launch.py
├── package.xml
└── src├── br2_tf2_detector│ ├── ObstacleDetectorImprovedNode.cpp│ ├── ObstacleDetectorNode.cpp│ ├── ObstacleMonitorNode (copy).cpp│ └── ObstacleMonitorNode.cpp├── detector_improved_main.cpp└── detector_main.cpp5 directories, 15 files
里面有两个部分basic和improved。CMakelistlibcmake_minimum_required(VERSION 3.5)
project(br2_tf2_detector)set(CMAKE_CXX_STANDARD 17)# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(visualization_msgs REQUIRED)set(dependenciesrclcpptf2_rosgeometry_msgssensor_msgsvisualization_msgs
)include_directories(include)add_library(${PROJECT_NAME} SHAREDsrc/br2_tf2_detector/ObstacleDetectorNode.cppsrc/br2_tf2_detector/ObstacleMonitorNode.cppsrc/br2_tf2_detector/ObstacleDetectorImprovedNode.cpp
)
ament_target_dependencies(${PROJECT_NAME} ${dependencies})add_executable(detector src/detector_main.cpp)
ament_target_dependencies(detector ${dependencies})
target_link_libraries(detector ${PROJECT_NAME})add_executable(detector_improved src/detector_improved_main.cpp)
ament_target_dependencies(detector_improved ${dependencies})
target_link_libraries(detector_improved ${PROJECT_NAME})install(TARGETS${PROJECT_NAME}detectordetector_improvedARCHIVE DESTINATION libLIBRARY DESTINATION libRUNTIME DESTINATION lib/${PROJECT_NAME}
)install(DIRECTORY launch DESTINATION share/${PROJECT_NAME})if(BUILD_TESTING)find_package(ament_lint_auto REQUIRED)ament_lint_auto_find_test_dependencies()
endif()ament_package()障碍物识别节点// Copyright 2021 Intelligent Robotics Lab
//
// Licensed under the Apache License, Version 2.0 (the License);
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an AS IS BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.#include memory#include br2_tf2_detector/ObstacleDetectorNode.hpp#include sensor_msgs/msg/laser_scan.hpp
#include geometry_msgs/msg/transform_stamped.hpp#include rclcpp/rclcpp.hppnamespace br2_tf2_detector
{using std::placeholders::_1;ObstacleDetectorNode::ObstacleDetectorNode()
: Node(obstacle_detector)
{scan_sub_ create_subscriptionsensor_msgs::msg::LaserScan(input_scan, rclcpp::SensorDataQoS(),std::bind(ObstacleDetectorNode::scan_callback, this, _1));tf_broadcaster_ std::make_sharedtf2_ros::StaticTransformBroadcaster(*this);
}void
ObstacleDetectorNode::scan_callback(sensor_msgs::msg::LaserScan::UniquePtr msg)
{double dist msg-ranges[msg-ranges.size() / 2];if (!std::isinf(dist)) {geometry_msgs::msg::TransformStamped detection_tf;detection_tf.header msg-header;detection_tf.child_frame_id detected_obstacle;detection_tf.transform.translation.x msg-ranges[msg-ranges.size() / 2];tf_broadcaster_-sendTransform(detection_tf);}
}} // namespace br2_tf2_detector主要就是回调函数完成大部分功能。具体参考源代码即可。障碍物监控节点// Copyright 2021 Intelligent Robotics Lab
//
// Licensed under the Apache License, Version 2.0 (the License);
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an AS IS BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.#include tf2/transform_datatypes.h
#include tf2/LinearMath/Quaternion.h
#include tf2_geometry_msgs/tf2_geometry_msgs.h#include memory#include br2_tf2_detector/ObstacleMonitorNode.hpp#include geometry_msgs/msg/transform_stamped.hpp#include rclcpp/rclcpp.hppnamespace br2_tf2_detector
{using namespace std::chrono_literals;ObstacleMonitorNode::ObstacleMonitorNode()
: Node(obstacle_monitor),tf_buffer_(),tf_listener_(tf_buffer_)
{marker_pub_ create_publishervisualization_msgs::msg::Marker(obstacle_marker, 1);timer_ create_wall_timer(500ms, std::bind(ObstacleMonitorNode::control_cycle, this));
}void
ObstacleMonitorNode::control_cycle()
{geometry_msgs::msg::TransformStamped robot2obstacle;try {robot2obstacle tf_buffer_.lookupTransform(odom, detected_obstacle, tf2::TimePointZero);} catch (tf2::TransformException ex) {RCLCPP_WARN(get_logger(), Obstacle transform not found: %s, ex.what());return;}double x robot2obstacle.transform.translation.x;double y robot2obstacle.transform.translation.y;double z robot2obstacle.transform.translation.z;double theta atan2(y, x);RCLCPP_INFO(get_logger(), Obstacle detected at (%lf m, %lf m, , %lf m) %lf rads,x, y, z, theta);visualization_msgs::msg::Marker obstacle_arrow;obstacle_arrow.header.frame_id odom;obstacle_arrow.header.stamp now();obstacle_arrow.type visualization_msgs::msg::Marker::ARROW;obstacle_arrow.action visualization_msgs::msg::Marker::ADD;obstacle_arrow.lifetime rclcpp::Duration(1s);geometry_msgs::msg::Point start;start.x 0.0;start.y 0.0;start.z 0.0;geometry_msgs::msg::Point end;end.x x;end.y y;end.z z;obstacle_arrow.points {start, end};obstacle_arrow.color.r 1.0;obstacle_arrow.color.g 0.0;obstacle_arrow.color.b 0.0;obstacle_arrow.color.a 1.0;obstacle_arrow.scale.x 0.02;obstacle_arrow.scale.y 0.1;obstacle_arrow.scale.z 0.1;marker_pub_-publish(obstacle_arrow);
}} // namespace br2_tf2_detector代码和原始版本稍微有些不同。重要部分 try {robot2obstacle tf_buffer_.lookupTransform(odom, detected_obstacle, tf2::TimePointZero);} catch (tf2::TransformException ex) {RCLCPP_WARN(get_logger(), Obstacle transform not found: %s, ex.what());return;}double x robot2obstacle.transform.translation.x;double y robot2obstacle.transform.translation.y;double z robot2obstacle.transform.translation.z;double theta atan2(y, x);RCLCPP_INFO(get_logger(), Obstacle detected at (%lf m, %lf m, , %lf m) %lf rads,x, y, z, theta);如果tf不能正常工作会报错Obstacle transform not found例如odom没有[detector-1] [WARN] [1676266943.177279939] [obstacle_monitor]: Obstacle transform not found: odom passed to lookupTransform argument target_frame does not exist.例如detected_obstacle没有[detector-1] [WARN] [1676267019.166991316] [obstacle_monitor]: Obstacle transform not found: detected_obstacle passed to lookupTransform argument source_frame does not exist. 需要思考并解决问题哦^_^如果都ok那么Obstacle detected at (%lf m, %lf m, , %lf m) %lf rads机器人在运动中所以角度和距离会不断变化。此时如果查看rqt其中检测tf是由激光传感器测距给出的。节点主题图这个代码主程序// Copyright 2021 Intelligent Robotics Lab
//
// Licensed under the Apache License, Version 2.0 (the License);
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an AS IS BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.#include memory#include br2_tf2_detector/ObstacleDetectorNode.hpp
#include br2_tf2_detector/ObstacleMonitorNode.hpp#include rclcpp/rclcpp.hppint main(int argc, char * argv[])
{rclcpp::init(argc, argv);auto obstacle_detector std::make_sharedbr2_tf2_detector::ObstacleDetectorNode();auto obstacle_monitor std::make_sharedbr2_tf2_detector::ObstacleMonitorNode();rclcpp::executors::SingleThreadedExecutor executor;executor.add_node(obstacle_detector-get_node_base_interface());executor.add_node(obstacle_monitor-get_node_base_interface());executor.spin();rclcpp::shutdown();return 0;
}这里需要注意 rclcpp::executors::SingleThreadedExecutor executor;executor.add_node(obstacle_detector-get_node_base_interface());executor.add_node(obstacle_monitor-get_node_base_interface());如果C掌握一般推荐看一看蓝桥ROS机器人之现代C学习笔记7.1 并行基础多线程是如何实现的。整个程序要跑起来终端1-gazebo仿真ros2 launch turtlebot3_gazebo empty_world.launch.pyros2 launch turtlebot3_gazebo empty_world.launch.py
[INFO] [launch]: All log files can be found below /home/zhangrelay/.ros/log/2023-02-13-13-43-10-244500-Aspire4741-10860
[INFO] [launch]: Default logging verbosity is set to INFO
urdf_file_name : turtlebot3_burger.urdf
[INFO] [gzserver-1]: process started with pid [10862]
[INFO] [gzclient -2]: process started with pid [10864]
[INFO] [ros2-3]: process started with pid [10868]
[INFO] [robot_state_publisher-4]: process started with pid [10870]
[robot_state_publisher-4] [WARN] [1676266991.467830827] [robot_state_publisher]: No robot_description parameter, but command-line argument available. Assuming argument is name of URDF file. This backwards compatibility fallback will be removed in the future.
[robot_state_publisher-4] Parsing robot urdf xml string.
[robot_state_publisher-4] Link base_link had 5 children
[robot_state_publisher-4] Link caster_back_link had 0 children
[robot_state_publisher-4] Link imu_link had 0 children
[robot_state_publisher-4] Link base_scan had 0 children
[robot_state_publisher-4] Link wheel_left_link had 0 children
[robot_state_publisher-4] Link wheel_right_link had 0 children
[robot_state_publisher-4] [INFO] [1676266991.472337172] [robot_state_publisher]: got segment base_footprint
[robot_state_publisher-4] [INFO] [1676266991.472419811] [robot_state_publisher]: got segment base_link
[robot_state_publisher-4] [INFO] [1676266991.472444636] [robot_state_publisher]: got segment base_scan
[robot_state_publisher-4] [INFO] [1676266991.472465018] [robot_state_publisher]: got segment caster_back_link
[robot_state_publisher-4] [INFO] [1676266991.472485972] [robot_state_publisher]: got segment imu_link
[robot_state_publisher-4] [INFO] [1676266991.472505808] [robot_state_publisher]: got segment wheel_left_link
[robot_state_publisher-4] [INFO] [1676266991.472525491] [robot_state_publisher]: got segment wheel_right_link
[ros2-3] Set parameter successful
[INFO] [ros2-3]: process has finished cleanly [pid 10868]
[gzserver-1] [INFO] [1676266994.292818234] [turtlebot3_imu]: initial_orientation_as_reference is unset, using default value of false to comply with REP 145 (world as orientation reference)
[gzserver-1] [INFO] [1676266994.417396256] [turtlebot3_diff_drive]: Wheel pair 1 separation set to [0.160000m]
[gzserver-1] [INFO] [1676266994.417528534] [turtlebot3_diff_drive]: Wheel pair 1 diameter set to [0.066000m]
[gzserver-1] [INFO] [1676266994.420616206] [turtlebot3_diff_drive]: Subscribed to [/cmd_vel]
[gzserver-1] [INFO] [1676266994.425994254] [turtlebot3_diff_drive]: Advertise odometry on [/odom]
[gzserver-1] [INFO] [1676266994.428920116] [turtlebot3_diff_drive]: Publishing odom transforms between [odom] and [base_footprint]
[gzserver-1] [INFO] [1676266994.460852885] [turtlebot3_joint_state]: Going to publish joint [wheel_left_joint]
[gzserver-1] [INFO] [1676266994.461009035] [turtlebot3_joint_state]: Going to publish joint [wheel_right_joint]终端2-障碍物检测ros2 launch br2_tf2_detector turtlebot_detector_basic.launch.py 终端3-rqtrqt终端4-rviz2rviz2windows端也可以获取信息。补充四元数是方向的4元组表示它比旋转矩阵更简洁。四元数对于分析涉及三维旋转的情况非常有效。四元数广泛应用于机器人、量子力学、计算机视觉和3D动画。可以在维基百科上了解更多关于基础数学概念的信息。还可以观看一个可探索的视频系列将3blue1brown制作的四元数可视化。官方教程将指导完成调试典型tf2问题的步骤。它还将使用许多tf2调试工具如tf2_echo、tf2_monitor和view_frames。TF2完整教程提纲tf2许多tf2教程都适用于C和Python。这些教程经过简化可以完成C曲目或Python曲目。如果想同时学习C和Python应该学习一次C教程和一次Python教程。目录工作区设置学习tf2调试tf2将传感器消息与tf2一起使用工作区设置如果尚未创建完成教程的工作空间请遵循本教程。学习tf2tf2简介。本教程将让了解tf2可以为您做什么。它在一个多机器人的例子中展示了一些tf2的力量该例子使用了turtlesim。这还介绍了使用tf2_echo、view_frames和rviz。编写静态广播PythonC。本教程教如何向tf2广播静态坐标帧。编写广播PythonC。本教程教如何向tf2广播机器人的状态。编写监听器PythonC。本教程教如何使用tf2访问帧变换。添加框架PythonC。本教程教如何向tf2添加额外的固定帧。使用时间PythonC。本教程教使用lookup_transform函数中的超时来等待tf2树上的转换可用。时间旅行PythonC。本教程向介绍tf2的高级时间旅行功能。调试tf2四元数基本原理。本教程介绍ROS 2中四元数的基本用法。调试tf2问题。本教程向介绍调试tf2相关问题的系统方法。将传感器消息与tf2一起使用对tf2_rosMessageFilter使用标记数据类型。本教程教您如何使用tf2_rosMessageFilter处理标记的数据类型。
