Article directory
Operating procedures
1. Let nodeHandle publish the /cmd_vel topic;
2. Set a target orientation angle. When the orientation angle in the attitude information is inconsistent with the target orientation angle, control the robot to turn to the target orientation angle.
node code
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/*!******************************************************************
@author ZhangWanjie
********************************************************************/
#include "ros/ros.h"
#include "sensor_msgs/Imu.h"
#include "tf/tf.h"
#include "geometry_msgs/Twist.h"
// 速度消息发布对象(全局变量)
ros::Publisher vel_pub;
// IMU 回调函数
void IMUCallback(const sensor_msgs::Imu msg)
{
// 检测消息包中四元数数据是否存在
if(msg.orientation_covariance[0] < 0)
return;
// 四元数转成欧拉角
tf::Quaternion quaternion(
msg.orientation.x,
msg.orientation.y,
msg.orientation.z,
msg.orientation.w
);
double roll, pitch, yaw;
tf::Matrix3x3(quaternion).getRPY(roll, pitch, yaw);
// 弧度换算成角度
roll = roll*180/M_PI;
pitch = pitch*180/M_PI;
yaw = yaw*180/M_PI;
ROS_INFO("滚转= %.0f 俯仰= %.0f 朝向= %.0f", roll, pitch, yaw);
// 速度消息包
geometry_msgs::Twist vel_cmd;
// 目标朝向角
double target_yaw = 90;
// 计算速度
double diff_angle = target_yaw - yaw;
vel_cmd.angular.z = diff_angle * 0.01;
vel_cmd.linear.x = 0.1;
vel_pub.publish(vel_cmd);
}
int main(int argc, char **argv)
{
setlocale(LC_ALL, "");
ros::init(argc,argv, "demo_imu_behavior");
ros::NodeHandle n;
// 订阅 IMU 的数据话题
ros::Subscriber sub = n.subscribe("imu/data", 100, IMUCallback);
// 发布速度控制话题
vel_pub = n.advertise<geometry_msgs::Twist>("/cmd_vel",10);
ros::spin();
return 0;
}