Hill227的博客

TF2教程Writing a tf2 listener (C++)详解如下：#include <ros/ros.h>//坐标变换守听支持，包含TransformListener类#include <tf2_ros/transform_listener.h>//几何消息：坐标变换消息#include <geometry_msgs/TransformStamped.h>//几何消息：移动#include <geometry_msgs/Twist.h&

原教程链接：Writing a tf2 broadcaster (C++)注释如下：#include <ros/ros.h>//线型数学，四元数#include <tf2/LinearMath/Quaternion.h>//广播支持，提供tf2_ros::TransformBroadcaster类#include <tf2_ros/transform_broadcaster.h>//坐标系变换支持#include <geometry_msgs/T

原教程链接：Writing a tf2 static broadcaster (C++)注释如下：#include <ros/ros.h>#include <tf2_ros/static_transform_broadcaster.h>#include <geometry_msgs/TransformStamped.h>#include <cstdio>#include <tf2/LinearMath/Quaternion.h>s