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[讨论] ROS和arduino连接掉线,Lost sync with device, restarting... |
我的Arduino板子发布nav_msgs/Odometry类型主题以及tf变换,每当我打开节点时会出现一个错误,错误如下: [ERROR] [WallTime: 1478676771.744104] Lost sync with device, restarting... 有趣的是,我的程序中去掉这一句“odom_pub.publish(&odom);”就不会出现这个错误了,我的程序如下,请各位朋友帮我分析以下,怎么解决,谢谢. /* * rosserial Planar Odometry Example */ #include <ros.h> #include <ros/time.h> #include <tf/tf.h> #include <tf/transform_broadcaster.h> #include <nav_msgs/Odometry.h> ros::NodeHandle nh; geometry_msgs::TransformStamped t; tf::TransformBroadcaster broadcaster; nav_msgs::Odometry odom; ros::Publisher odom_pub("/odom",&odom); ros::Time current_time; ros::Time last_time; double x = 0.0; double y = 0.0; double theta = 0.0; double vx=0.0; double vy=0.0; double vth=0.0; char base_link[] = "/base_link"; char base_odom[] = "/odom"; void setup() { nh.initNode(); broadcaster.init(nh); nh.advertise(odom_pub); last_time = nh.now(); } void loop() { current_time = nh.now(); double dt=current_time.toSec()-last_time.toSec(); double delta_x = (vx*cos(theta)-vy*sin(theta))*dt; double delta_y = (vx*sin(theta)+vy*cos(theta))*dt; double delta_th = vth*dt; x+=delta_x; y+=delta_y; theta+=delta_th; // tf odom->base_link t.header.frame_id = base_odom; t.child_frame_id = base_link; t.transform.translation.x = x; t.transform.translation.y = y; t.transform.rotation = tf::createQuaternionFromYaw(theta); t.header.stamp = current_time; //odometry odom->base_link odom.header.stamp=current_time; odom.header.frame_id="odom"; odom.child_frame_id="base_link"; odom.pose.pose.position.x=x; odom.pose.pose.position.y=y; odom.pose.pose.position.z=0; odom.pose.pose.orientation = tf::createQuaternionFromYaw(theta); odom.twist.twist.linear.x=vx; odom.twist.twist.linear.y=0; odom.twist.twist.linear.z=0; odom.twist.twist.angular.z=vth; odom.twist.twist.angular.x=0; odom.twist.twist.angular.y=0; last_time=current_time; broadcaster.sendTransform(t); odom_pub.publish(&odom); nh.spinOnce(); delay(10); } |
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