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)
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