无法在 rviz ROS 中显示发布的路径答案

【问题标题】：Cannot show the published path in rviz ROS无法在 rviz ROS 中显示发布的路径
【发布时间】：2023-02-21 16:49:05
【问题描述】：

我是 ROS 的新手，正在尝试在 ROS 中发布路径。我检查过主题“/路径”已发布，但路径似乎未在 rviz 中显示 [我可以选择 /path，它似乎有效但未显示轨迹。我确定这条线不是透明的]。我不知道为什么？如果有人能帮助我，非常感谢。以下是我的代码：

广播路径.cpp

"""

#include "control_turtle/BroadcastPath.hpp"

namespace broadcast_path {

BroadcastPath::BroadcastPath(ros::NodeHandle& nodeHandle)
    : nodeHandle_(nodeHandle)
{
    publisher_ = nodeHandle_.advertise<nav_msgs::Path>("/path",1);
    subscriber_ = nodeHandle_.subscribe("/odom", 2, &BroadcastPath::topicCallback, this);

}

BroadcastPath::~BroadcastPath()
{
}

void BroadcastPath::topicCallback(const nav_msgs::Odometry& msg)
{
    nav_msgs::Path path;
    geometry_msgs::PoseStamped pose;

    pose.pose.position = msg.pose.pose.position;
    pose.pose.orientation = msg.pose.pose.orientation;

    path.header.stamp = ros::Time::now();
    path.header.frame_id = "map";
    path.poses.push_back(pose);

    publisher_.publish(path);

}

} /* namespace */

"""

广播路径节点.cpp

"""

#include <ros/ros.h>
#include "control_turtle/BroadcastPath.hpp"

int main(int argc, char** argv)
{
  ros::init(argc, argv, "broadcast_path");
  ros::NodeHandle nodeHandle("~");
  ros::Rate loopRate(10);

  broadcast_path::BroadcastPath broadcastPath(nodeHandle);

  ros::spin();
  return 0;
}

"""

广播路径.hpp

"""

#pragma once


// ROS
#include <iostream>
#include <ros/ros.h>
#include <stdio.h>
#include <nav_msgs/Odometry.h>
#include <nav_msgs/Path.h>

namespace broadcast_path {

/*!
 * Main class for the node to handle the ROS interfacing.
 */
class BroadcastPath
{
 public:
  /*!
   * Constructor.
   * @param nodeHandle the ROS node handle.
   */
    BroadcastPath(ros::NodeHandle& nodeHandle);

  /*!
   * Destructor.
   */
  virtual ~BroadcastPath();

 private:

  /*!
   * ROS topic callback method.
   * @param message the received message.
   */
  void topicCallback(const nav_msgs::Odometry& msg);


  /*!
   * ROS service server callback.
   * @param request the request of the service.
   * @param response the provided response.
   * @return true if successful, false otherwise.
   */

  //! ROS node handle.
  ros::NodeHandle& nodeHandle_;

  //! ROS publisher
  ros::Publisher publisher_;
  ros::Subscriber subscriber_;

  int count = 0;

};

} /* namespace */

"""

【问题讨论】：

标签： c++ ros

【解决方案1】：

在 BroadcastPath.cpp 中，您应该在将姿势推送到路径之前为姿势分配一个标题。您还应该将路径的 frame_id 设置为 parentId（如果您使用的是 ros 标准，则为“odom”），并将姿势的 frame_id 设置为 childId（如果您使用的是 ros 标准，则为“base_link”）。您的代码应如下所示：

#include "control_turtle/BroadcastPath.hpp"

namespace broadcast_path {

BroadcastPath::BroadcastPath(ros::NodeHandle& nodeHandle)
    : nodeHandle_(nodeHandle)
{
    publisher_ = nodeHandle_.advertise<nav_msgs::Path>("/path",1);
    subscriber_ = nodeHandle_.subscribe("/odom", 2, &BroadcastPath::topicCallback, this);

}

BroadcastPath::~BroadcastPath()
{
}

void BroadcastPath::topicCallback(const nav_msgs::Odometry& msg)
{
    nav_msgs::Path path;
    geometry_msgs::PoseStamped pose;


    pose.header.stamp = ros::Time::now();
    path.header.frame_id = "odom";
    pose.pose.position = msg.pose.pose.position;
    pose.pose.orientation = msg.pose.pose.orientation;

    path.header.stamp = ros::Time::now();
    path.header.frame_id = "base_link";
    path.poses.push_back(pose);

    publisher_.publish(path);

}

} /* namespace */

【讨论】：