问题：
tf 监听自己的坐标按官方例子一直不行不问题
解决方法 ：
示例：
#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2008, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of the Willow Garage nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import rospy
import math
import tf
import geometry_msgs.msg
import turtlesim.srv
if __name__ == '__main__':
rospy.init_node('turtle_tf_listener')
listener = tf.TransformListener()
rospy.wait_for_service('spawn')
spawner = rospy.ServiceProxy('spawn', turtlesim.srv.Spawn)
spawner(4, 2, 0, 'robot0')
turtle_vel = rospy.Publisher(
'robot1/cmd_vel', geometry_msgs.msg.Twist, queue_size=1)
rate = rospy.Rate(10.0)
listener.waitForTransform("/robot1", "/robot0",
rospy.Time(), rospy.Duration(4.0))
while not rospy.is_shutdown():
try:
# (trans, rot) = listener.lookupTransform(
# '/turtle2', '/carrot1', rospy.Time())
now = rospy.Time.now()
listener.waitForTransform(
"/robot1", "/robot0", now, rospy.Duration(4.0))
(trans, rot) = listener.lookupTransform("/robot1", "/robot0", now)
except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
continue
angular = 4 * math.atan2(trans[1], trans[0])
linear = 0.5 * math.sqrt(trans[0] ** 2 + trans[1] ** 2)
msg = geometry_msgs.msg.Twist()
msg.linear.x = linear
msg.angular.z = angular
turtle_vel.publish(msg)
rate.sleep()
问题原因：
自己的示例没有以下的service
rospy.wait_for_service('spawn')
spawner = rospy.ServiceProxy('spawn', turtlesim.srv.Spawn)
更改为成以下代码问题解决
#!/usr/bin/env python
# Software License Agreement (BSD License)
#
# Copyright (c) 2008, Willow Garage, Inc.
# All rights reserved.
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions
# are met:
#
# * Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer.
# * Redistributions in binary form must reproduce the above
# copyright notice, this list of conditions and the following
# disclaimer in the documentation and/or other materials provided
# with the distribution.
# * Neither the name of the Willow Garage nor the names of its
# contributors may be used to endorse or promote products derived
# from this software without specific prior written permission.
#
# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
# LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
# CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
# POSSIBILITY OF SUCH DAMAGE.
import rospy
import math
import tf
import geometry_msgs.msg
import turtlesim.srv
if __name__ == '__main__':
print ("startddd")
rospy.init_node('turtle_tf_listener')
listener = tf.TransformListener()
#rospy.wait_for_service('spawn')
listener.waitForTransform('/robot1', '/robot0', rospy.Time(), rospy.Duration(1.0))
#spawner = rospy.ServiceProxy('spawn', turtlesim.srv.Spawn)
#spawner(4, 2, 0, 'robot0_laser_0')
turtle_vel = rospy.Publisher(
'robot1/cmd_vel', geometry_msgs.msg.Twist, queue_size=1)
rate = rospy.Rate(10.0)
listener.waitForTransform("/robot1", "/robot0",
rospy.Time(), rospy.Duration(4.0))
while not rospy.is_shutdown():
try:
# (trans, rot) = listener.lookupTransform(
# '/turtle2', '/carrot1', rospy.Time())
print('lakjdfl;kajdlfkajd;lk')
now = rospy.Time.now()
listener.waitForTransform("/robot1", "/robot0", now, rospy.Duration(4.0))
(trans, rot) = listener.lookupTransform("/robot1", "/robot0", now)
except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
continue
angular = 4 * math.atan2(trans[1], trans[0])
linear = 0.5 * math.sqrt(trans[0] ** 2 + trans[1] ** 2)
msg = geometry_msgs.msg.Twist()
msg.linear.x = linear
msg.angular.z = angular
turtle_vel.publish(msg)
print(msg.linear.x+msg.linear.z)
rate.sleep()