tf2_msgs::msg::TFMessage 是ROS(Robot Operating System)中用于表示坐标变换消息的消息类型。以下是对您问题的详细回答: 1. 解释tf2_msgs::msg::tfmessage是什么 tf2_msgs::msg::TFMessage 是ROS 2 中定义的一种消息类型,用于描述不同坐标系之间的变换关系。这些变换关系对于机器人和其传感器等组件在不同坐标...
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 rospy.sleep(0.1) t = geometry_msgs.msg.TransformStamped() t.header.frame...
已知两组固定坐标系,B->A,D->C,其关系定义如代码 static_publisher.py所示 #!/usr/bin/env python # static_publisher.py importrospyimportsysimporttf2_ros as tf2importtf_conversions as tfcimportgeometry_msgs.msgfromtf2_msgs.msgimportTFMessageimportmathimportnumpydef__genTf(frameT, frameS, posTs, q...
#include<tf2_geometry_msgs/tf2_geometry_msgs.h>// 提供了tf数据类型的转换tf2::Quaternion q_tf;// tf2的四元数对象geometry_msgs::Quaternion q_msg;// ros的四元素消息/* 消息和类型转换 */// msg -> Quaternion对象tf2::convert(q_msg,q_tf);//①msg类型转换为tf类型tf2::fromMsg(q_msg,q_tf...
from geometry_msgs.msg import TransformStamped import rclpy from rclpy.node import Node from tf2_ros import TransformBroadcaster import tf_transformations from turtlesim.msg import Pose class FramePublisher(Node): def __init__(self): super().__init__('turtle_tf2_frame_publisher') ...
编写代码发布TF(C++) 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> ...
void handle_turtle_pose(const std::shared_ptr<turtlesim::msg::Pose> msg) { rclcpp::Time now = this->get_clock()->now(); geometry_msgs::msg::TransformStamped t; // Read message content and assign it to // corresponding tf variables ...
For sending a group of transform stamped messages Also fixed test that was failing at the double msg type.
from geometry_msgs.msg import TransformStamped import rclpy from rclpy.node import Node from tf2_ros import TransformBroadcaster import tf_transformations from turtlesim.msg import Pose class FramePublisher(Node): def __init__(self): super().__init__('turtle_tf2_frame_publisher') ...
from geometry_msgs.msg import TransformStamped import rclpy from rclpy.node import Node from tf2_ros import TransformBroadcaster import tf_transformations from turtlesim.msg import Pose class FramePublisher(Node): def __init__(self): super().__init__('turtle_tf2_frame_publisher') # Declare and ...