ros中odometry数据生成方式与分发去向

版权声明：本文为博主原创文章，未经博主允许不得转载。 https://blog.csdn.net/kunyXu/article/details/71499944

ros中常见的坐标衔接关系为：map–>odometry–>base_link(base_footprint)，所以随着机器人的移动，我们需要生成机器人的里程计信息，如此可以提供机器在map中大致的位置，一方面可以提供给相关算法（SLAM）减少搜索空间，另一方面如果没有SLAM也可以进行低精度的行走与导航。
odometry数据是由底盘的轮速与角速度结合起来计算并发布出来的，以下是ros官网的odometry数据生成源码。

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "odometry_publisher");

  ros::NodeHandle n;
  ros::Publisher odom_pub = n.advertise<nav_msgs::Odometry>("odom", 50);
  tf::TransformBroadcaster odom_broadcaster;

  double x = 0.0;
  double y = 0.0;
  double th = 0.0;

  double vx = 0.1;
  double vy = -0.1;
  double vth = 0.1;

  ros::Time current_time, last_time;
  current_time = ros::Time::now();
  last_time = ros::Time::now();

  ros::Rate r(1.0);  // 发布频率为1s
  while(n.ok()){

    ros::spinOnce();               // check for incoming messages
    current_time = ros::Time::now();

    //compute odometry in a typical way given the velocities of the robot
    double dt = (current_time - last_time).toSec();
    double delta_x = (vx * cos(th) - vy * sin(th)) * dt;
    double delta_y = (vx * sin(th) + vy * cos(th)) * dt;
    double delta_th = vth * dt;
    // 计算累计行走的x,y,theta
    x += delta_x;
    y += delta_y;
    th += delta_th;

    //since all odometry is 6DOF we'll need a quaternion created from yaw
    geometry_msgs::Quaternion odom_quat = tf::createQuaternionMsgFromYaw(th);

    //first, we'll publish the transform over tf
    geometry_msgs::TransformStamped odom_trans;
    odom_trans.header.stamp = current_time;
    // 发布base_link与odom的坐标转换关系
    odom_trans.header.frame_id = "odom";
    odom_trans.child_frame_id = "base_link";

    odom_trans.transform.translation.x = x;
    odom_trans.transform.translation.y = y;
    odom_trans.transform.translation.z = 0.0;
    odom_trans.transform.rotation = odom_quat;

    //send the transform
    odom_broadcaster.sendTransform(odom_trans);

    //next, we'll publish the odometry message over ROS
    nav_msgs::Odometry odom;
    odom.header.stamp = current_time;
    odom.header.frame_id = "odom";

    //set the position
    odom.pose.pose.position.x = x;
    odom.pose.pose.position.y = y;
    odom.pose.pose.position.z = 0.0;
    odom.pose.pose.orientation = odom_quat;

    //set the velocity
    odom.child_frame_id = "base_link";
    odom.twist.twist.linear.x = vx;
    odom.twist.twist.linear.y = vy;
    odom.twist.twist.angular.z = vth;

    //publish the message
    odom_pub.publish(odom);

    last_time = current_time;
    r.sleep();
  }
}

当要驱动自己的底盘移动时，需要通过某种协议获取两个轮子的速度，根据两个轮子的速度推算出底盘移动的线速度和角速度，此部分可参考，再输入到上述函数，即可完成底盘里程计数据的生成与分发。