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fake_vel_transform package from pb2025_sentry_nav repofake_vel_transform ign_sim_pointcloud_tool loam_interface pb2025_nav_bringup pb2025_sentry_nav sensor_scan_generation |
Package Summary
Tags | No category tags. |
Version | 1.3.0 |
License | Apache-2.0 |
Build type | AMENT_CMAKE |
Use | RECOMMENDED |
Repository Summary
Checkout URI | https://github.com/smbu-polarbear-robotics-team/pb2025_sentry_nav.git |
VCS Type | git |
VCS Version | main |
Last Updated | 2025-03-30 |
Dev Status | UNMAINTAINED |
CI status | No Continuous Integration |
Released | UNRELEASED |
Tags | No category tags. |
Contributing |
Help Wanted (0)
Good First Issues (0) Pull Requests to Review (0) |
Package Description
Adapts to NAV2 local path planner when `robot_base_frame` changes drastically.
Additional Links
No additional links.
Maintainers
- Lihan Chen
Authors
- Lihan Chen
fake_vel_transform
本功能包启动时,Fake Velocity Transform 会创建一个 fake_robot_base_frame
的坐标系,其 x, y, z 与 robot_base_frame
的坐标系一致,但 yaw 固定指向正前方,然后将生成的该坐标系发布到 tf2。同时,Fake Velocity Transform 会订阅 input_cmd_vel_topic
话题,将接收到的速度指令转换到 robot_base_frame
坐标系下,并发布到 output_cmd_vel_topic
话题。
主要目的是用于适配 NAV2 局部路径规划器,当速度参考坐标系 robot_base_frame
变化剧烈时,如云台处于自旋扫描时,NAV2 局部路径规划器会将机器人的方向视为与当前路径规划方向一致,导致机器人无法正常运动。而使用 fake_robot_base_frame
可以规避这个问题,实现较稳定的轨迹跟踪效果。
由于 NAV2 humble 发行版出于避免破坏原有接口的原因,依然使用 Twist 类型(不含时间戳),humble 往后的版本才使用 TwistStamped,导致无法直接实现 cmd_vel 与 odometry 的时间戳对齐。因此,本功能包暂时订阅 local_plan 话题(由局部路径规划器发布),以获取时间戳,将它的时间戳视为 cmd_vel 的时间戳,以间接实现时间戳对齐。 Related issue: Switch from Twist to TwistStamped for cmd_vel #1594
Published Topics
-
tf
(tf2_msgs/msg/TFMessage
) - 与机器人可移动关节相对应的变换 -
output_cmd_vel_topic
(geometry_msgs/msg/Twist
) - 转换后的速度指令
Subscribed Topics
-
input_cmd_vel_topic
(geometry_msgs/msg/Twist
) - 机器人的速度指令 -
local_plan_topic
(nav_msgs/msg/Path
) - 局部路径规划器的路径 -
odom_topic
(nav_msgs/msg/Odometry
) - 里程计数据 -
cmd_spin_topic
(example_interfaces/msg/Float32
) - 控制底盘固定旋转速度,将会叠加到output_cmd_vel_topic
中
Parameters
-
odom_topic
(string
, default: “odom”) - 里程计话题。里程计的 frame_id 与robot_base_frame
参数保持一致 -
robot_base_frame
(string
, default: “gimbal_link”) - 速度参考坐标系 -
fake_robot_base_frame
(string
, default: “gimbal_link_fake”) - 伪速度参考坐标系 -
local_plan_topic
(string
, default: “local_plan”) - 局部路径规划器的路径话题 -
cmd_spin_topic
(string
, default: “cmd_spin”) - 控制底盘固定旋转速度的话题 -
input_cmd_vel_topic
(string
, default: “”) - 输入速度指令的话题 -
output_cmd_vel_topic
(string
, default: “”) - 输出速度指令的话题。将原本基于fake_robot_base_frame
的速度变换到robot_base_frame
后发布 -
init_spin_speed
(double
, default: 0.0) - 若没有接收cmd_spin_topic
,则使用该值作为固定旋转速度
CHANGELOG
No CHANGELOG found.
Wiki Tutorials
This package does not provide any links to tutorials in it's rosindex metadata.
You can check on the ROS Wiki Tutorials page for the package.
Package Dependencies
Deps | Name |
---|---|
ament_cmake | |
ament_lint_auto | |
ament_lint_common | |
ament_cmake_clang_format | |
ament_cmake_black | |
rclcpp | |
rclcpp_components | |
geometry_msgs | |
nav_msgs | |
tf2 | |
tf2_ros | |
tf2_geometry_msgs | |
example_interfaces |
System Dependencies
No direct system dependencies.
Dependant Packages
Name | Deps |
---|---|
pb2025_sentry_nav |
Launch files
No launch files found
Messages
No message files found.
Services
No service files found
Plugins
No plugins found.
Recent questions tagged fake_vel_transform at Robotics Stack Exchange
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