用rosbag的里程計和激光數據mapping,想在RVIZ中不僅顯示occupancy grid map,也顯示激光數據,爲此需要自己編寫TF的broadcaster來發布scan到odom的座標變換,代碼如下
其中scan的座標系名字(frame_id)叫“laser”,這是因爲rosbag中scan的數據裏面header.frame_id 就定義爲了“laser”
#include <ros/ros.h>
#include <tf/tf.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
static double x_r_l, y_r_l, theta_r_l;
void odomCallback ( const nav_msgs::OdometryConstPtr& odom )
{
/* 獲取機器人姿態 */
double x_r = odom->pose.pose.position.x;
double y_r = odom->pose.pose.position.y;
double theta_r = tf::getYaw ( odom->pose.pose.orientation );
static tf::TransformBroadcaster br;
tf::Transform transform;
transform.setOrigin(tf::Vector3(x_r+x_r_l, y_r+y_r_l, 0.0));
transform.setRotation(tf::createQuaternionFromYaw(theta_r+theta_r_l));
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "odom", "laser"));
}
int main(int argc, char** argv)
{
ros::init(argc, argv, "tf_broadcaster");
ros::NodeHandle nh1;
// 從yaml文件中讀取laser相對於robot的pose
nh1.getParam ( "/tf_things/robot_laser/x", x_r_l );
nh1.getParam ( "/tf_things/robot_laser/y", y_r_l );
nh1.getParam ( "/tf_things/robot_laser/theta", theta_r_l );
ros::Subscriber g_odom_sub;
g_odom_sub = nh1.subscribe ( "/mbot/odometry", 1, odomCallback );
ros::spin();
return 0;
}
但這樣做之後,在RVIZ中add一個LaserScan後,選擇topic爲/scan,結果報錯“Message removed because it is too old”,用 $rosrun tf view_frames
$rosrun tf echo odom laser
檢查都沒問題,說明代碼沒問題,TF可以正常發送。
最後找到了解決方法:https://answers.ros.org/question/52788/error-in-display-of-pointcloud-in-base_link-frame/
即在launch文件頂部加入:<param name="use_sim_time" value="true"/>
然後在rosbag 節點加入:--clock
這樣做的含義是所有node都使用仿真時間而不是ros time
如下所示
<launch>
<param name="use_sim_time" value="true"/>
<node pkg="occ_grid_mapping" type="odometry" name="odometry" output="screen" clear_params="true">
<rosparam file="$(find occ_grid_mapping)/config/default.yaml" command="load" />
</node>
<node pkg="occ_grid_mapping" type="mapping" name="mapping" output="screen" clear_params="true">
<rosparam file="$(find occ_grid_mapping)/config/default.yaml" command="load" />
</node>
<node pkg="occ_grid_mapping" type="tf_things" name="tf_things" output="screen" clear_params="true">
<rosparam file="$(find occ_grid_mapping)/config/default.yaml" command="load" />
</node>
<node pkg="rviz" type="rviz" name="rviz" output="screen"
args="-d $(find occ_grid_mapping)/rviz/default.rviz" required="true">
</node>
<!-- -r 5: replay with rate = 5hz 即以記錄時的5倍速回放 -->
<node pkg="rosbag" type="play" name="rosbag" args="--clock -r 5 $(find occ_grid_mapping)/laser_dataset/laser2_2018-07-14-18-41-42.bag"/>
</launch>