rosrun tf tf_echo [reference_frame] [target_frame] :
look at the transform of the [target_frame] frame with respect to [reference_frame] frame
tf2_ros::StaticTransformBroadcaster
该类可以被用作发布静态transform。在tf2_ros工具中已被封装过的static_transform_publisher可以作为命令行工具或者roslaunch中直接发布关于两个坐标系的变换。
例如:static_transform_publisher x y z yaw pitch roll frame_id child_frame_id
static_transform_publisher x y z qx qy qz qw frame_id child_frame_id
tf广播器:
static tf2_ros::TransformBroadcaster br;
br.sendTransform(transformStamped);
tf侦听器:
tf2_ros::Buffer tfBuffer;
tf2_ros::TransformListener tfListener(tfBuffer);
此两句,创建TransformListener对象。一旦创建了侦听器,它就开始通过连接接收tf2转换,并对它们进行长达10秒的缓冲
transformStamped = tfBuffer.lookupTransform(“target frame”, “source frame”,ros::Time(0));
代表从buffer中查询最近的两个坐标系间的变换。
命令行查看