我们从Python开源项目中，提取了以下5个代码示例，用于说明如何使用geometry_msgs.msg.TransformStamped()。
def from_dict(self, in_dict): """ Sets values parsed from a given dictionary. :param in_dict: input dictionary. :type in_dict: dict[string, string|dict[string,float]] :rtype: None """ self.eye_on_hand = in_dict['eye_on_hand'] self.transformation = TransformStamped( child_frame_id=in_dict['tracking_base_frame'], transform=Transform( Vector3(in_dict['transformation']['x'], in_dict['transformation']['y'], in_dict['transformation']['z']), Quaternion(in_dict['transformation']['qx'], in_dict['transformation']['qy'], in_dict['transformation']['qz'], in_dict['transformation']['qw']) ) ) if self.eye_on_hand: self.transformation.header.frame_id = in_dict['robot_effector_frame'] else: self.transformation.header.frame_id = in_dict['robot_base_frame']
def get_navigation_tf(self, navigation_pose): navigation_tf = TransformStamped() navigation_tf.header.frame_id = "/map" navigation_tf.header.stamp = rospy.Time.now() navigation_tf.child_frame_id = "/odom" navigation_tf.transform.translation .x = navigation_pose.x navigation_tf.transform.translation .y = navigation_pose.y navigation_tf.transform.rotation = self.get_ros_quaternion( almath.Quaternion_fromAngleAndAxisRotation(navigation_pose.theta, 0, 0, 1)) return navigation_tf
def _send_transform(self, trans, rotq, i): t = TransformStamped() t.header.stamp = rospy.Time().now() t.header.frame_id = "velodyne" t.child_frame_id = 'obs%d' % i t.transform.translation.x = trans[0] t.transform.translation.y = trans[1] t.transform.translation.z = trans[2] t.transform.rotation.x = rotq[0] t.transform.rotation.y = rotq[1] t.transform.rotation.z = rotq[2] t.transform.rotation.w = rotq[3] self.broadcaster.sendTransform(t)
def __init__(self, eye_on_hand=False, robot_base_frame=None, robot_effector_frame=None, tracking_base_frame=None, transformation=None): """ Creates a HandeyeCalibration object. :param eye_on_hand: if false, it is a eye-on-base calibration :type eye_on_hand: bool :param robot_base_frame: needed only for eye-on-base calibrations: robot base link tf name :type robot_base_frame: string :param robot_effector_frame: needed only for eye-on-hand calibrations: robot tool tf name :type robot_effector_frame: string :param tracking_base_frame: tracking system tf name :type tracking_base_frame: string :param transformation: transformation between optical origin and base/tool robot frame as tf tuple :type transformation: ((float, float, float), (float, float, float, float)) :return: a HandeyeCalibration object :rtype: easy_handeye.handeye_calibration.HandeyeCalibration """ if transformation is None: transformation = ((0, 0, 0), (0, 0, 0, 1)) self.eye_on_hand = eye_on_hand """ if false, it is a eye-on-base calibration :type: bool """ self.transformation = TransformStamped(transform=Transform( Vector3(*transformation[0]), Quaternion(*transformation[1]))) """ transformation between optical origin and base/tool robot frame :type: geometry_msgs.msg.TransformedStamped """ # tf names if self.eye_on_hand: self.transformation.header.frame_id = robot_effector_frame else: self.transformation.header.frame_id = robot_base_frame self.transformation.child_frame_id = tracking_base_frame self.filename = HandeyeCalibration.DIRECTORY + '/' + rospy.get_namespace().rstrip('/').split('/')[-1] + '.yaml'
def __init__(self): self.rate = rospy.get_param("~rate", 20.0) self.period = 1.0 / self.rate # angular mode maps angular z directly to steering angle # (adjusted appropriately) # non-angular mode is somewhat suspect, but it turns # a linear y into a command to turn just so that the # achieved linear x and y match the desired, though # the vehicle has to turn to do so. # Non-angular mode is not yet supported. self.angular_mode = rospy.get_param("~angular_mode", True) # Not used yet # self.tf_buffer = tf2_ros.Buffer() # self.tf = tf2_ros.TransformListener(self.tf_buffer) # broadcast odometry self.br = tf2_ros.TransformBroadcaster() self.ts = TransformStamped() self.ts.header.frame_id = "map" self.ts.child_frame_id = "base_link" self.ts.transform.rotation.w = 1.0 self.angle = 0 # The cmd_vel is assumed to be in the base_link frame centered # on the middle of the two driven wheels # This is half the distance between the two drive wheels self.base_radius = rospy.get_param("~base_radius", 0.06) self.wheel_radius = rospy.get_param("~wheel_radius", 0.04) self.left_wheel_joint = rospy.get_param("~left_wheel_joint", "wheel_front_left_joint") self.right_wheel_joint = rospy.get_param("~right_wheel_joint", "wheel_front_right_joint") self.point_pub = rospy.Publisher("cmd_vel_spin_center", PointStamped, queue_size=1) self.joint_pub = {} self.joint_pub['left'] = rospy.Publisher("front_left/joint_state", JointState, queue_size=1) self.joint_pub['right'] = rospy.Publisher("front_right/joint_state", JointState, queue_size=1) # TODO(lucasw) is there a way to get TwistStamped out of standard # move_base publishers? # TODO(lucasw) make this more generic, read in a list of any number of wheels # the requirement is that that all have to be aligned, and also need # a set spin center. self.ind = {} self.joint_state = {} self.joint_state['left'] = JointState() self.joint_state['left'].name.append(self.left_wheel_joint) self.joint_state['left'].position.append(0.0) self.joint_state['left'].velocity.append(0.0) self.joint_state['right'] = JointState() self.joint_state['right'].name.append(self.right_wheel_joint) self.joint_state['right'].position.append(0.0) self.joint_state['right'].velocity.append(0.0) self.cmd_vel = Twist() rospy.Subscriber("cmd_vel", Twist, self.cmd_vel_callback, queue_size=2) self.timer = rospy.Timer(rospy.Duration(self.period), self.update)
