Hi,
I was trying to work through the tf tutorials, and had some issues when I got to the part about message filters. The tutorial refers to "turtle_tf_sensor.launch" which is not in the package. I am using Fuerte, and it appears that the file is also missing from Groovy. Also, this issue was previously raised, but I cannot see it being fixed.
I have recreated the missing launch file, and a python node that it runs, based on code from Box Turtle.
If you want me to submit a patch somewhere else please advise.
Missing file 1: geometry_tutorials/turtle_tf/launch/turtle_tf_sensor.launch
<launch>
<include file="$(find turtle_tf)/launch/turtle_tf_demo.launch" />
<node name="turtle_pose_stamped_publisher" pkg="turtle_tf" type="turtle_tf_message_broadcaster.py" respawn="false" output="screen" />
</launch>
Missing file 2: geometry_tutorials/turtle_tf/nodes/turtle_tf_message_broadcaster.py
[Note: this was modified from Box Turtle code to use Point instead of Pose to match the tutorial code]
#!/usr/bin/env python
import roslib
roslib.load_manifest('turtle_tf')
import rospy
import tf
import turtlesim.msg, turtlesim.srv
from geometry_msgs.msg import PointStamped, Point
from std_msgs.msg import Header
class PointPublisher:
def handle_turtle_pose(self, msg, turtlename):
self.pub.publish(PointStamped(Header(0, rospy.rostime.get_rostime(), "/world"), Point(msg.x, msg.y, 0)))
def __init__(self):
self.turtlename = "turtle3" #rospy.get_param('~turtle')
self.sub = rospy.Subscriber('/%s/pose' % self.turtlename,
turtlesim.msg.Pose,
self.handle_turtle_pose,
self.turtlename)
self.pub = rospy.Publisher('turtle_point_stamped', PointStamped)
if __name__ == '__main__':
rospy.init_node('tf_turtle_stamped_msg_publisher')
rospy.wait_for_service('spawn')
spawner = rospy.ServiceProxy('spawn', turtlesim.srv.Spawn)
spawner(4, 2, 0, 'turtle3')
pp = PointPublisher()
pub = rospy.Publisher("turtle3/command_velocity", turtlesim.msg.Velocity)
while not rospy.is_shutdown():
pub.publish(turtlesim.msg.Velocity(1,1))
rospy.sleep(rospy.Duration(0.1))
It would also be great to add to the tutorial that the following lines should be added to CMakeLists.txt (assumes the file with code is named "turtle_msgfilter.cpp").
rosbuild_add_boost_directories() rosbuild_add_executable(turtle_msgfilter src/turtle_msgfilter.cpp) rosbuild_link_boost(turtle_msgfilter signals)
Originally posted by dougbot01 on ROS Answers with karma: 342 on 2013-03-24
Post score: 1