TF2 tutorial

geometry_tutorials/package.xml

@@ -15,6 +15,7 @@
   <buildtool_depend>catkin</buildtool_depend>
 
   <run_depend>turtle_tf</run_depend>
+	<run_depend>turtle_tf2</run_depend>
 
   <export>
     <metapackage/>

turtle_tf2/CMakeLists.txt

@@ -0,0 +1,68 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(turtle_tf2)
+## Find dependencies
+find_package(catkin REQUIRED COMPONENTS
+  geometry_msgs
+  roscpp
+  rospy
+  std_msgs
+  tf2
+  tf2_ros
+  turtlesim
+)
+
+###################################
+## catkin specific configuration ##
+###################################
+catkin_package(
+#  INCLUDE_DIRS include
+#  LIBRARIES turtle_tf2
+ CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs tf2 tf2_ros
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+)
+
+## C++ examples
+add_executable(turtle_tf2_broadcaster src/turtle_tf2_broadcaster.cpp)
+target_link_libraries(turtle_tf2_broadcaster ${catkin_LIBRARIES})
+if(catkin_EXPORTED_TARGETS)
+  add_dependencies(turtle_tf2_broadcaster ${catkin_EXPORTED_TARGETS})
+endif()
+
+add_executable(turtle_tf2_listener src/turtle_tf2_listener.cpp)
+target_link_libraries(turtle_tf2_listener ${catkin_LIBRARIES})
+if(catkin_EXPORTED_TARGETS)
+  add_dependencies(turtle_tf2_listener ${catkin_EXPORTED_TARGETS})
+endif()
+
+## Install Python Examples
+install(PROGRAMS
+  nodes/dynamic_tf2_broadcaster.py
+  nodes/fixed_tf2_broadcaster.py
+  nodes/turtle_tf2_broadcaster.py
+  nodes/turtle_tf2_listener.py
+  nodes/turtle_tf2_listener_wait.py
+  nodes/turtle_tf2_message_broadcaster.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Install C++ Examples
+install(TARGETS turtle_tf2_broadcaster turtle_tf2_listener
+  ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+  RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Install Other Resources
+install(DIRECTORY launch
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})
+
+install(DIRECTORY rviz
+  DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION})

turtle_tf2/launch/turtle_tf2_demo.launch

@@ -0,0 +1,20 @@
+<launch>
+
+  <!-- Turtlesim Node-->
+  <node pkg="turtlesim" type="turtlesim_node" name="sim"/>
+
+  <node pkg="turtlesim" type="turtle_teleop_key" name="teleop" output="screen"/>
+  <!-- Axes -->
+  <param name="scale_linear" value="2" type="double"/>
+  <param name="scale_angular" value="2" type="double"/>
+
+  <node name="turtle1_tf2_broadcaster" pkg="turtle_tf2" type="turtle_tf2_broadcaster.py" respawn="false" output="screen" >
+    <param name="turtle" type="string" value="turtle1" />
+  </node>
+  <node name="turtle2_tf2_broadcaster" pkg="turtle_tf2" type="turtle_tf2_broadcaster.py" respawn="false" output="screen" >
+    <param name="turtle" type="string" value="turtle2" />
+  </node>
+  <node name="turtle_pointer" pkg="turtle_tf2" type="turtle_tf2_listener.py" respawn="false" output="screen" >
+  </node>
+
+</launch>

turtle_tf2/launch/turtle_tf2_sensor.launch

@@ -0,0 +1,4 @@
+<launch>
+  <include file="$(find turtle_tf2)/launch/turtle_tf2_demo.launch" />
+  <node name="turtle_pose_stamped_publisher" pkg="turtle_tf2" type="turtle_tf2_message_broadcaster.py" respawn="false" output="screen" />	
+</launch>

turtle_tf2/package.xml

@@ -0,0 +1,35 @@
+<?xml version="1.0"?> 
+<package>
+  <name>turtle_tf2</name>
+  <version>0.0.1</version>
+  <description>
+		turtle_tf2 demonstrates how to write a tf2 broadcaster and listener with the turtlesim. The tutle_tf2_listener commands turtle2 to follow turtle1 around as you drive turtle1 using the keyboard.
+	</description>
+  <maintainer email="denis.stogl@mailbox.org">Denis Štogl</maintainer>
+  <license>BSD</license>
+
+  <!-- <url type="website">http://wiki.ros.org/turtle_tf2</url> -->
+	<url type="repository">https://github.com/ros/geometry_tutorials</url>
+  <url type="bugtracker">https://github.com/ros/geometry_tutorials/issues</url>
+
+  <author email="denis.stogl@mailbox.org">Denis Štogl</author>
+
+  <buildtool_depend>catkin</buildtool_depend>
+
+  <build_depend>geometry_msgs</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>rospy</build_depend>
+  <build_depend>std_msgs</build_depend>
+  <build_depend>tf2</build_depend>
+  <build_depend>tf2_ros</build_depend>	
+  <build_depend>turtlesim</build_depend>
+
+  <run_depend>geometry_msgs</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>rospy</run_depend>
+  <run_depend>std_msgs</run_depend>
+  <run_depend>tf2</run_depend>
+  <run_depend>tf2_ros</run_depend>
+	<run_depend>turtlesim</run_depend>
+
+</package>

turtle_tf2/rviz/turtle_rviz.rviz

@@ -0,0 +1,117 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+      Splitter Ratio: 0.5
+    Tree Height: 479
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+      - /Publish Point1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: false
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: false
+      Show Axes: true
+      Show Names: false
+      Tree:
+        {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: /world
+  Name: root
+  Tools:
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/MoveCamera
+    - Class: rviz/Select
+    - Class: rviz/FocusCamera
+    - Class: rviz/Measure
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+    - Class: rviz/PublishPoint
+      Single click: true
+      Topic: /clicked_point
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 11.8991
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.454796
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 3.5554
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 756
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000013c0000026dfc0200000008fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005600fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000002540000011a00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002c0000026d000000dc00fffffffb0000002000730065006c0065006300740069006f006e00200062007500660066006500720200000138000000aa0000023a00000294fb00000014005700690064006500530074006500720065006f02000000e6000000d2000003ee0000030bfb0000000c004b0069006e0065006300740200000186000001060000030c00000261000000010000010f0000026dfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002c0000026d000000a500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004fc0000003efc0100000002fb0000000800540069006d00650100000000000004fc0000020b00fffffffb0000000800540069006d00650100000000000004500000000000000000000002af0000026d00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1276
+  X: 4
+  Y: 22

turtle_tf2/rviz/turtle_rviz_groovy.rviz

@@ -0,0 +1,112 @@
+Panels:
+  - Class: rviz/Displays
+    Help Height: 78
+    Name: Displays
+    Property Tree Widget:
+      Expanded:
+        - /Global Options1
+        - /TF1/Frames1
+        - /TF1/Tree1
+      Splitter Ratio: 0.5
+    Tree Height: 542
+  - Class: rviz/Selection
+    Name: Selection
+  - Class: rviz/Tool Properties
+    Expanded:
+      - /2D Pose Estimate1
+      - /2D Nav Goal1
+    Name: Tool Properties
+    Splitter Ratio: 0.588679
+  - Class: rviz/Views
+    Expanded:
+      - /Current View1
+    Name: Views
+    Splitter Ratio: 0.5
+  - Class: rviz/Time
+    Experimental: false
+    Name: Time
+    SyncMode: 0
+    SyncSource: ""
+Visualization Manager:
+  Class: ""
+  Displays:
+    - Alpha: 0.5
+      Cell Size: 1
+      Class: rviz/Grid
+      Color: 160; 160; 164
+      Enabled: true
+      Line Style:
+        Line Width: 0.03
+        Value: Lines
+      Name: Grid
+      Normal Cell Count: 0
+      Offset:
+        X: 0
+        Y: 0
+        Z: 0
+      Plane: XY
+      Plane Cell Count: 10
+      Reference Frame: <Fixed Frame>
+      Value: true
+    - Class: rviz/TF
+      Enabled: true
+      Frame Timeout: 15
+      Frames:
+        All Enabled: true
+      Marker Scale: 1
+      Name: TF
+      Show Arrows: true
+      Show Axes: true
+      Show Names: true
+      Tree:
+        {}
+      Update Interval: 0
+      Value: true
+  Enabled: true
+  Global Options:
+    Background Color: 48; 48; 48
+    Fixed Frame: /world
+  Name: root
+  Tools:
+    - Class: rviz/MoveCamera
+    - Class: rviz/Interact
+      Hide Inactive Objects: true
+    - Class: rviz/Select
+    - Class: rviz/SetInitialPose
+      Topic: /initialpose
+    - Class: rviz/SetGoal
+      Topic: /move_base_simple/goal
+  Value: true
+  Views:
+    Current:
+      Class: rviz/Orbit
+      Distance: 25.6515
+      Focal Point:
+        X: 0
+        Y: 0
+        Z: 0
+      Name: Current View
+      Near Clip Distance: 0.01
+      Pitch: 0.785398
+      Target Frame: <Fixed Frame>
+      Value: Orbit (rviz)
+      Yaw: 0.785398
+    Saved: ~
+Window Geometry:
+  Displays:
+    collapsed: false
+  Height: 756
+  Hide Left Dock: false
+  Hide Right Dock: false
+  QMainWindow State: 000000ff00000000fd00000004000000000000013c000002acfc0200000005fb0000001200530065006c0065006300740069006f006e00000001e10000009b0000005600fffffffb0000001e0054006f006f006c002000500072006f007000650072007400690065007302000001ed000001df00000185000000a3fb000000120056006900650077007300200054006f006f02000001df000002110000018500000122fb000000200054006f006f006c002000500072006f0070006500720074006900650073003203000002880000011d000002210000017afb000000100044006900730070006c006100790073010000002c000002ac000000dc00ffffff000000010000010f000002acfc0200000003fb0000001e0054006f006f006c002000500072006f00700065007200740069006500730100000041000000780000000000000000fb0000000a00560069006500770073010000002c000002ac000000a500fffffffb0000001200530065006c0065006300740069006f006e010000025a000000b200000000000000000000000200000490000000a9fc0100000001fb0000000a00560069006500770073030000004e00000080000002e10000019700000003000004a00000003efc0100000002fb0000000800540069006d00650000000000000004a00000020b00fffffffb0000000800540069006d00650100000000000004500000000000000000000002af000002ac00000004000000040000000800000008fc0000000100000002000000010000000a0054006f006f006c00730100000000ffffffff0000000000000000
+  Selection:
+    collapsed: false
+  Time:
+    collapsed: false
+  Tool Properties:
+    collapsed: false
+  Views:
+    collapsed: false
+  Width: 1276
+  X: 7
+  Y: 22