以下是tf2_geometry_msgs包的一些常见用法：1.cpp复制代码 #include<tf2_geometry_msgs/tf2_geometry_conversion.h> #include<geometry_msgs/msg/pose.hpp> tf2::Transform transform;// 填充transform变量...geometry_msgs::msg::Pose pose = tf2::convert(transform);2.cpp复制代码 #include<tf2_geometry_msgs/...
Since thetf2::Stamped<T>classes are defined as a subclass ofT, the compiler is preferring the overloaded methods. E.g. that's why if you look closely at your error message it complaining about assigning a non-stamped typegeometry_msgs::msg::Transformto ageometry_msgs::msg::TransformStamped:...
geometry_msgs::TransformStamped static_transformStamped; // tf消息 static_broadcaster.sendTransform(static_transformStamped); // 发布坐标变换// 重点关注tf2需要的头文件 #include <ros/ros.h> #include <cstdio> #include <tf2_ros/static_transform_broadcaster.h> #include <geometry_msgs/TransformStamped.h...
ROS使用两种四元数数据类型:msg和“tf”。要在C++中对这两种数据类型进行转换,请使用tf2_geometry_msgs的方法。 (C++) #include <tf2_geometry_msgs/tf2_geometry_msgs.h> tf2::Quaternion quat_tf; geometry_msgs::Quaternion quat_msg = ...; tf2::convert(quat_msg , quat_tf); // or tf2::fromMsg...
检查tf2_geometry_msgs包是否已正确安装: tf2_geometry_msgs 是一个与机器人操作系统 (ROS) 相关的包,通常用于处理几何信息。首先,确保你的系统中已经安装了 ROS,并且 tf2_geometry_msgs 包也在其中。 你可以通过运行以下命令来检查包是否已安装(以 ROS 2 为例): bash sudo apt-get install ros-<distro...
#include<geometry_msgs/TransformStamped.h>#include<ros/ros.h>#include<tf2_ros/transform_listener.h>//tf2中tf监听器和转换器一起使用,需要把tf数据缓存起来,然后进行坐标变换intmain(intargc,char** argv){ ros::init(argc, argv,"my_tf2_listener"); ...
In file included from /home/addverb/catkin_ws/src/navigation/costmap_2d/src/observation_buffer.cpp:39:0: /home/addverb/catkin_ws/src/geometry2/tf2_geometry_msgs/include/tf2_geometry_msgs/tf2_geometry_msgs.h:1009:55: error: ‘array’ is not...
msggeometry_msgs::Quaternion quat_msg 这种声明的就是 msg 类型 tftf2::Quaternion myQuaternion 这种声明的就是 tf 类型 在tf2_geometry_msgs.h 文件 中 提供 了 数据类型 转换的 函数 #include<tf2_geometry_msgs/tf2_geometry_msgs.h>tf2::Quaternion quat_tf; ...
geometry_msgs::TransformStamped transformStamped; 声明TF2的标准消息类型变量,用于存放监听的TF2。 重点 try{transformStamped = tfBuffer.lookupTransform("turtle2","turtle1",ros::Time(0));}catch(tf2::TransformException &ex) {ROS_WARN("%s",ex.what());ros::Duration(...
示例代码来自ros2_galactic_turorials/geometry_tutorials/turtle_tf2_cpp/src/static_turtle_tf2_broadcaster.cpp 代码语言:c++ AI代码解释 #include <geometry_msgs/msg/transform_stamped.hpp> #include <rclcpp/rclcpp.hpp> #include <tf2/LinearMath/Quaternion.h> ...