ROS2学习_ros2 tf2 view

1. 静态tf变换发布

xxx.launch.py文件中

from launch import LaunchDescription
from launch_ros.actions import Node

def generate_launch_description():
    tf2_earth2map = Node(
            package='tf2_ros',
            executable='static_transform_publisher',
            arguments = ['0', '0', '0', '0', '0', '0', 'earth', 'map']
    )
    return LaunchDescription([
        tf2_earth2map,
   ])
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命令行方式：

ros2 run tf2_ros static_transform_publisher x y z yaw pitch roll frame_id child_frame_id
ros2 run tf2_ros static_transform_publisher x y z qx qy qz qw frame_id child_frame_id
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2. 查看tf变换树

ros2 run tf2_tools view_frames.py
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运行该命令后生成tf变换树的PDF文件。

3.ros2与ros1通信

1. 新开一终端，安装通信程序包

sudo apt install ros-dashing-ros1-bridge
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2. 进行ros1与ros2通信

source /opt/ros/noetic/setup.bash
source /opt/ros/foxy/setup.bash
ros2 run ros1_bridge dynamic_bridge --bridge-all-topics
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4. ros1与ros2版本切换

在~/.bashrc文件末尾输入

#source /opt/ros/noetic/setup.bash
echo "ros noetic(1) or ros2 foxy(2)?"
read edition
if [ "$edition" -eq "1" ]; then
  source /opt/ros/noetic/setup.bash
  echo "ros noetic(1) has been chosen！"
else
  source /opt/ros/foxy/setup.bash
  echo "ros2 foxy(2) has been chosen！"
fi
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