无法在rviz ROS中显示已发布的路径

Question

我是ROS的新手，并试图在ROS中发布路径。我检查了主题/路径"已发布，但路径似乎没有显示在rviz[我可以选择/路径，它似乎工作，但没有显示轨迹。我确信这条线是不透明的。我不知道为什么?如果有人能帮助我，我将不胜感激。以下是我的代码:

BroadcastPath.cpp

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#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 */

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Broadcast_path_node.cpp

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#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;
}

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BroadcastPath.hpp

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#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 */

"">

Answer 1

在BroadcastPath.cpp中，您应该在将其推入路径之前为姿势分配头部。您还应该将路径的frame_id设置为parentId("odom")如果你使用的是ros标准)，并将姿态的frame_id设置为childdid ("base_link"如果您使用的是ros标准)。你的代码应该像这样:

#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 */