ROS2入门教程-查看TF树

ROS2入门教程-查看TF树

说明：

• 本教程介绍如果在ROS2下可视化查看tf树

操作步骤

• 下面就以查看仿真中tb3的tf树为例

• 启动tb3

$ roslaunch turtlebot3_gazebo turtlebot3_empty_world.launch

• 查看tf树

$ ros2 run tf2_tools view_frames.py
[INFO] [1635134794.445248107] [view_frames]: Listening to tf data during 5 seconds...
[INFO] [1635134799.462196002] [view_frames]: Generating graph in frames.pdf file...
[INFO] [1635134799.471982193] [view_frames]: Result:tf2_msgs.srv.FrameGraph_Response(frame_yaml="base_link: \n  parent: 'base_footprint'\n  broadcaster: 'default_authority'\n  rate: 10000.000\n  most_recent_transform: 0.000000\n  oldest_transform: 0.000000\n  buffer_length: 0.000\nbase_footprint: \n  parent: 'odom'\n  broadcaster: 'default_authority'\n  rate: 20.202\n  most_recent_transform: 1635134799.428046\n  oldest_transform: 1635134794.478135\n  buffer_length: 4.950\ncaster_back_link: \n  parent: 'base_link'\n  broadcaster: 'default_authority'\n  rate: 10000.000\n  most_recent_transform: 0.000000\n  oldest_transform: 0.000000\n  buffer_length: 0.000\nimu_link: \n  parent: 'base_link'\n  broadcaster: 'default_authority'\n  rate: 10000.000\n  most_recent_transform: 0.000000\n  oldest_transform: 0.000000\n  buffer_length: 0.000\nbase_scan: \n  parent: 'base_link'\n  broadcaster: 'default_authority'\n  rate: 10000.000\n  most_recent_transform: 0.000000\n  oldest_transform: 0.000000\n  buffer_length: 0.000\nwheel_left_link: \n  parent: 'base_link'\n  broadcaster: 'default_authority'\n  rate: 12.041\n  most_recent_transform: 1635134799.428046\n  oldest_transform: 1635134794.528159\n  buffer_length: 4.900\nwheel_right_link: \n  parent: 'base_link'\n  broadcaster: 'default_authority'\n  rate: 12.041\n  most_recent_transform: 1635134799.428046\n  oldest_transform: 1635134794.528159\n  buffer_length: 4.900\n")
/opt/ros/foxy/lib/tf2_tools/view_frames.py:75: YAMLLoadWarning: calling yaml.load() without Loader=... is deprecated, as the default Loader is unsafe. Please read https://msg.pyyaml.org/load for full details.
  data = yaml.load(result.frame_yaml)

• 程序会在约5秒后在当前目录下生成frames.gv和frames.pdf两个文件

• 打开生成的frames.pdf文件

$ xdg-open frames.pdf