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ROS与javascript入门教程-roslibjs-使用TF

ROS与javascript入门教程-roslibjs-使用TF

说明:

  • 介绍如何在roslibjs中使用TF

github:

步骤:

  • 新建 tf.html 文件
  • 代码如下:
<!DOCTYPE html>
<html>
<head>
<meta charset="utf-8" />
<script src="http://cdn.robotwebtools.org/EventEmitter2/current/eventemitter2.min.js"></script>
<script src="http://cdn.robotwebtools.org/roslibjs/current/roslib.min.js"></script>

<script type="text/javascript" type="text/javascript">
  var ros = new ROSLIB.Ros({
    url : 'ws://localhost:9090'
  });

  var tfClient = new ROSLIB.TFClient({
    ros : ros,
    fixedFrame : 'world',
    angularThres : 0.01,
    transThres : 0.01
  });

  tfClient.subscribe('turtle1', function(tf) {
    console.log(tf);
  });

  ros.on('connection', function() {
    console.log('Connected to websocket server.');
  });

  ros.on('error', function(error) {
    console.log('Error connecting to websocket server: ', error);
  });

  ros.on('close', function() {
    console.log('Connection to websocket server closed.');
  });
</script>
</head>

<body>
  <h1>Simple TF Example</h1>
  <p>Check the JavaScript console for the output.</p>
</body>
</html>

代码解析:

  • 代码段:
  var tfClient = new ROSLIB.TFClient({
    ros : ros,
    fixedFrame : 'world',
    angularThres : 0.01,
    transThres : 0.01
  });
  • 解释:

    • 利用ROSLIB.TFClient对象订阅TF
    • 更多ROSLIB.TFClient参考文档:http://robotwebtools.org/jsdoc/roslibjs/current/TFClient.html
  • 代码段:

  tfClient.subscribe('turtle1', function(tf) {
    console.log(tf);
  });
  • 解释:

    • 订阅坐标系world和turtle1之间的变换

运行:

  • 服务器,新终端,运行
roslaunch rosbridge_server rosbridge_websocket.launch
  • 服务器端,新终端,运行
rosrun tf2_web_republisher tf2_web_republisher
  • 服务器端,新终端,运行
roslaunch turtle_tf turtle_tf_demo.launch
  • chrome浏览器运行tf.html

参考:

  • http://wiki.ros.org/roslibjs/Tutorials/TfClient

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标签: ros与javascript 入门教程