PIBOT移植ROS2记录(4)-odom与tf

1. odom topic

• 修改头文件
  #include <nav_msgs/Odometry.h>—> #include <nav_msgs/msg/odometry.hpp>
• 修改定义
  ros::Publisher---->rclcpp::Publisher<nav_msgs::msg::Odometry>::SharedPtr
nav_msgs::Odometry---->nav_msgs::msg::Odometry
• 创建pub对象
  advertise---->create_publisher
• timestamp
  使用Node->get_clock()->now()获取timestamp
• yaw to Quaternion

  tf2::Quaternion q;
  q.setRPY(0.0, 0.0, th);

• CMakeList.txt中新增nav_msgs依赖项

2. odom tf

• 修改头文件
  #include <tf/transform_broadcaster.h>---->#include <tf2_ros/transform_broadcaster.h>
#include <geometry_msgs/Vector3Stamped.h>---->#include <geometry_msgs/msg/transform_stamped.hpp>
• 修改类型
  geometry_msgs::TransformStamped---->geometry_msgs::msg::TransformStamped
tf::TransformBroadcaster---->std::unique_ptr<tf2_ros::TransformBroadcaster>
• CMakeList.txt中新增tf2_msgs tf2_ros依赖项

...
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. 运行测试

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的输出

本文代码https://gitee.com/pibot/pibot_bringup/tree/3b8d945f3924aa0fd58d95fc8539145abc65dfd3