I'm trying to load Odom example from ros_lib on my robot.
I Replaced
ros::NodeHandle nh;
to
ros::NodeHandle_ nh;
But then it shows the error: No matching function for call to on
broadcaster.init(nh);
in `setup()`.
Can anyone please give me some suggestions?
Update:
This is the complete code:
#include
#include
#include
#include
ros::NodeHandle_ nh;
geometry_msgs::TransformStamped t; tf::TransformBroadcaster broadcaster;
double x = 1.0; double y = 0.0; double theta = 1.57;
char base_link[] = "/base_link";
char odom[] = "/odom";
void setup()
{
nh.initNode();
broadcaster.init(nh);
}
void loop()
{
// drive in a circle
double dx = 0.2;
double dtheta = 0.18;
x += cos(theta)*dx*0.1;
y += sin(theta)*dx*0.1;
theta += dtheta*0.1;
if(theta > 3.14)
theta=-3.14;
// tf odom->base_link
t.header.frame_id = 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 = nh.now();
broadcaster.sendTransform(t);
nh.spinOnce();
delay(10);
}
The error message I received:
/tmp/arduino_modified_sketch_779304/Odom.ino: In function 'void setup()':
Odom:25: error: no matching function for call to 'tf::TransformBroadcaster::init(ros::NodeHandle_&)'
broadcaster.init(nh);
^
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