1. odom topic
- 修改頭文件
#include <nav_msgs/Odometry.h>--->#include <nav_msgs/msg/odometry.hpp> - 修改定義
ros::Publisher---->rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr
nav_msgs::Odometry---->nav_msgs::msg::Odometry - 創(chuàng)建pub對(duì)象
advertise---->create_publisher - timestamp
使用Node->get_clock()->now()獲取timestamp - yaw to Quaternion
tf2::Quaternion q;
q.setRPY(0.0, 0.0, th);
- CMakeList.txt中新增
nav_msgs依賴項(xiàng)
2. odom tf
- 修改頭文件
#include <tf/transform_broadcaster.h>---->#include <tf2_ros/transform_broadcaster.h>
#include <geometry_msgs/Vector3Stamped.h>---->#include <geometry_msgs/msg/transform_stamped.hpp> - 修改類型
geometry_msgs::TransformStamped---->geometry_msgs::msg::TransformStamped
tf::TransformBroadcaster---->std::unique_ptr<tf2_ros::TransformBroadcaster> - CMakeList.txt中新增
tf2_msgstf2_ros依賴項(xiàng)
...
find_package(tf2_msgs REQUIRED)
find_package(tf2_ros REQUIRED)
...
ament_target_dependencies(pibot_driver
rclcpp
geometry_msgs
nav_msgs
tf2_msgs
tf2_ros)
3. 運(yùn)行測(cè)試
ros2 launch pibot_bringup bringup_launch.py
? ros2 topic list
/cmd_vel
/odom
/parameter_events
/rosout
/tf
可以使用ros2 topic echo /odom查看topic的輸出
本文代碼https://gitee.com/pibot/pibot_bringup/tree/3b8d945f3924aa0fd58d95fc8539145abc65dfd3
