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在ros中动态调整雷达，线激光雷达等设备的静态坐标关系

news 来源：原创 2025/6/14 13:06:40

在ros中动态调整雷达，线激光雷达等设备的静态坐标关系

摘要：本文介绍了一个ROS动态坐标变换工具(dynamic_tf_keyboard.py)，用于实时调整雷达等设备的安装位置和姿态。该工具通过键盘控制(WASD调整XYZ位置，IJKLUO调整RPY姿态)来修改坐标变换，并实时发布TF变换关系。程序采用tf2_ros发布静态变换，支持将变换参数直接用于launch文件配置。该方案为设备外参标定提供了交互式调试手段，适用于线激光雷达等传感器的安装位置校准。

实现类似 rosrun tf2_ros static_transform_publisher... 的功能

依赖：

确保安装了 ros-noetic-tf2-ros, geometry_msgs, pynput：

ynamic_tf_keyboard.py示例代码：

#!/usr/bin/env python3
import rospy
import tf2_ros
import geometry_msgs.msg
from tf.transformations import quaternion_from_euler
from pynput import keyboard'''
苏凯 2025 6 13
动态调整线激光的安装坐标（标定外参）
chmod +x dynamic_tf_keyboard.py
rosrun ydlidar_ros_driver dynamic_tf_keyboard.py🧪 示例控制：W/S：X 增/减；A/D：Y 增/减；R/F：Z 增/减；I/K：Roll 增/减；J/L：Pitch 增/减；U/O：Yaw 增/减；控制台更改坐标 xyz rzryrx ：rosrun tf2_ros static_transform_publisher 0.1973 0.152 0.75841   0.83733 0.52333 0.087222 base_link laser_line_left在launch文件中启动坐标   xyz  rzryrx <node pkg="tf2_ros" type="static_transform_publisher" name="base_link_to_laser4"args="0.1973 0.152 0.75841  2.4033 -0.087222 2.10    /base_link /laser_line_left" />'''# 初始变换参数
x, y, z = 0.1973, 0.152, 0.75841
roll, pitch, yaw = 1.57, 0.0, 1.57
step_pos = 0.01
step_rot = 0.05def publish_tf():global x, y, z, roll, pitch, yawbr = tf2_ros.TransformBroadcaster()rate = rospy.Rate(10)while not rospy.is_shutdown():t = geometry_msgs.msg.TransformStamped()t.header.stamp = rospy.Time.now()t.header.frame_id = "base_link"#填入相对坐标t.child_frame_id = "laser_line_left"t.transform.translation.x = xt.transform.translation.y = yt.transform.translation.z = zq = quaternion_from_euler(roll, pitch, yaw)t.transform.rotation.x = q[0]t.transform.rotation.y = q[1]t.transform.rotation.z = q[2]t.transform.rotation.w = q[3]br.sendTransform(t)rate.sleep()def on_press(key):global x, y, z, roll, pitch, yawtry:if key.char == 'w': x += step_posif key.char == 's': x -= step_posif key.char == 'a': y += step_posif key.char == 'd': y -= step_posif key.char == 'r': z += step_posif key.char == 'f': z -= step_posif key.char == 'i': roll += step_rotif key.char == 'k': roll -= step_rotif key.char == 'j': pitch += step_rotif key.char == 'l': pitch -= step_rotif key.char == 'u': yaw += step_rotif key.char == 'o': yaw -= step_rotprint(f"[TF] x={x:.3f}, y={y:.3f}, z={z:.3f}, roll={roll:.2f}, pitch={pitch:.2f}, yaw={yaw:.2f}")except AttributeError:passif __name__ == '__main__':rospy.init_node('dynamic_tf_publisher')print("控制指令：\n""位置：WASD控制X/Y，R/F控制Z\n""姿态：I/K=roll，J/L=pitch，U/O=yaw\n")from threading import ThreadThread(target=publish_tf).start()with keyboard.Listener(on_press=on_press) as listener:listener.join()