roboclaw_sim.py 文件源码

def publish_odom(self, cur_x, cur_y, cur_theta, vx, vth):
        quat = tf.transformations.quaternion_from_euler(0, 0, cur_theta)
        current_time = rospy.Time.now()

        br = tf.TransformBroadcaster()
        br.sendTransform((cur_x, cur_y, 0),
                         tf.transformations.quaternion_from_euler(0, 0, cur_theta),
                         current_time,
                         "base_link",
                         "odom")

        odom = Odometry()
        odom.header.stamp = current_time
        odom.header.frame_id = 'odom'

        odom.pose.pose.position.x = cur_x
        odom.pose.pose.position.y = cur_y
        odom.pose.pose.position.z = 0.0
        odom.pose.pose.orientation = Quaternion(*quat)

        odom.pose.covariance[0] = 0.01
        odom.pose.covariance[7] = 0.01
        odom.pose.covariance[14] = 99999
        odom.pose.covariance[21] = 99999
        odom.pose.covariance[28] = 99999
        odom.pose.covariance[35] = 0.01

        odom.child_frame_id = 'base_link'
        odom.twist.twist.linear.x = vx
        odom.twist.twist.linear.y = 0
        odom.twist.twist.angular.z = vth
        odom.twist.covariance = odom.pose.covariance

        self.odom_pub.publish(odom)