1. 解释 tf2_msgs::TFMessage 是什么 tf2_msgs::TFMessage 是ROS中用于描述多个坐标变换关系的消息类型。它属于 tf2_msgs 包,该包提供了与tf2坐标变换相关的消息和服务定义。tf2_msgs::TFMessage 通常包含多个 geometry_msgs/TransformStamped 类型的坐标变换信息,用于描述不同坐标系之间的相对位置和姿态。
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/...
·tf2_eigen软件包:用于在本地处理Eigen数据类型的tf2方法,为C++软件包; ·tf2_geometry_msgs软件包:用于在本地处理geometry_msgs数据类型的tf2方法,为C++或者Python软件包; ·tf2_kdl软件包:用于在本地处理kdl数据类型的tf2方法,为C++或者Python软件包; ·tf2_sensor_msgs软件包:用于在本地处理sensor_msgs数据类型...
这样即获得了 有 turtle1(坐标系) 到 turtle2 (坐标系)的坐标变换。 geometry_msgs::Twist vel_msg;vel_msg.angular.z =4.0*atan2(transformStamped.transform.translation.y,transformStamped.transform.translation.x);vel_msg.linear.x =0.5*sqrt(pow(transformStamped.transform....
tf2_ros::MessageFilter<geometry_msgs::PointStamped> tf2_filter_; };intmain(intargc,char** argv){ ros::init(argc, argv,"pose_drawer");//Init ROSPoseDrawer pd;//Construct classros::spin();// Run until interuptedreturn0; }; 3、代码解释 ...
import tf2_msgs.msg import geometry_msgs.msg class FixedTFBroadcaster: def __init__(self): self.pub_tf = rospy.Publisher("/tf", tf2_msgs.msg.TFMessage, queue_size=1) while not rospy.is_shutdown(): # Run this loop at about 10Hz ...
这个结论不那么严谨:tf2::Quaternion、geometry_msgs::Quaternion、geometry_msgs::QuaternionStamped(其实是geometry_msgs::Quaternion)中四元素可以相互赋值,但排除要用于matrix().eulerAngles()的Eigen::Quaterniond。当然,如果Eigen::Quaterniond只是用于存储tf2::Quaternion中的w、x、y、z四数值,最后还是用tf2中函数得...
geometry_msgs::msg::TransformStamped base_to_map_msg, odom_to_map_msg; base_to_map_msg = tf2::toMsg(base_to_map); // this fails // this stuff works, obviously // base_to_map_msg.header.stamp = tf2_ros::toMsg(base_to_map.stamp_); ...
#include <geometry_msgs/msg/transform_stamped.hpp> #include <rclcpp/rclcpp.hpp> #include <tf2/LinearMath/Quaternion.h> #include <tf2_ros/static_transform_broadcaster.h> #include <memory> using std::placeholders::_1; class StaticFramePublisher : public rclcpp::Node ...
geometry_msgs::Quaternion quat_msg = ...; tf2::convert(quat_msg , quat_tf); // or tf2::fromMsg(quat_msg, quat_tf); // or for the other conversion direction quat_msg = tf2::toMsg(quat_tf); (Python) from geometry_msgs.msg import Quaternion ...