ROS_Robot/jie_ware
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add odom_frame

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This commit is contained in:
Robot 2024-10-23 09:25:21 +08:00
parent 85996fbb9f
commit 2414e09420
3 changed files with 6 additions and 2 deletions
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1
README.md
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@ -21,6 +21,7 @@ catkin_make
```
<node pkg="jie_ware" type="lidar_loc" name="lidar_loc" >
<param name="base_frame" value="base_footprint" />
<param name="odom_frame" value="odom" />
<param name="laser_frame" value="laser" />
<param name="laser_topic" value="scan" />
</node>

1
launch/lidar_loc_test.launch
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@ -40,6 +40,7 @@
<!-- Run lidar_loc -->
<node pkg="jie_ware" type="lidar_loc" name="lidar_loc" >
<param name="base_frame" value="base_footprint" />
<param name="odom_frame" value="odom" />
<param name="laser_frame" value="laser" />
<param name="laser_topic" value="scan" />
</node>

6
src/lidar_loc.cpp
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@ -26,6 +26,7 @@ std::vector<cv::Point2f> scan_points;
std::vector<cv::Point2f> best_transform;
ros::ServiceClient clear_costmaps_client;
std::string base_frame;
std::string odom_frame;
std::string laser_frame;
std::string laser_topic;
@ -391,7 +392,7 @@ void pose_tf()
// 6. 查询 odom 到 base_frame 的变换
geometry_msgs::TransformStamped odom_to_base;
try {
odom_to_base = tfBuffer.lookupTransform("odom", laser_frame, ros::Time(0));
odom_to_base = tfBuffer.lookupTransform(odom_frame, laser_frame, ros::Time(0));
}
catch (tf2::TransformException &ex) {
ROS_WARN("%s", ex.what());
@ -412,7 +413,7 @@ void pose_tf()
map_to_odom_msg.header.stamp = ros::Time::now();
map_to_odom_msg.header.frame_id = "map";
map_to_odom_msg.child_frame_id = "odom";
map_to_odom_msg.child_frame_id = odom_frame;
map_to_odom_msg.transform = tf2::toMsg(map_to_odom);
// 计算 yaw 角度
@ -436,6 +437,7 @@ int main(int argc, char** argv)
// 读取参数
ros::NodeHandle private_nh("~");
private_nh.param<std::string>("base_frame", base_frame, "base_footprint");
private_nh.param<std::string>("odom_frame", odom_frame, "odom");
private_nh.param<std::string>("laser_frame", laser_frame, "laser");
private_nh.param<std::string>("laser_topic", laser_topic, "scan");