创建tf2_ros::TransformListener对象,用来监听tf节点数据 在tfBuffer中查询坐标变换 创建cpp源文件,src/turtle_tf2_listener.cpp,下面给出关键代码。 #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...
When I call the tf2_ros::Buffer::canTransform function with a non-zero duration, I can't disable the warning even though I set the errstr argument. In this line, tf2::BufferCore::canTransform is called without the errstr argument, and the warning is not disabled: ...
如果两个引用指向同一个对象，那么==就成立；反之，如果两个引用指向的不是同一个对象，...
// tf2_ros::Buffer 的几个方法this->tf_->transform(ident,laser_pose,base_frame_id_);tf_->transform(min_q,min_q,base_frame_id_);// handleInitialPoseMessage()函数内部的tf_ buffer的方法// wait a little for the latest tf to become availabletx_odom=tf_->lookupTransform(base_frame_id_,...
trans = tfBuffer.lookup_transform(turtle_name, 'turtle1', rospy.Time()) except (tf2_ros.LookupException, tf2_ros.ConnectivityException, tf2_ros.ExtrapolationException): rate.sleep() continue msg = geometry_msgs.msg.Twist() msg.angular.z = 4 * math.atan2(trans.transform.translation.y, trans...
tf2_ros::Buffer tfBuffer; tf2_ros::TransformListener tfListener(tfBuffer); 这里创建了一个TransformListener对象,当Listener创建好后,它就会通过网络来接收tf2的位姿变换信息,and buffers them for up to 10 seconds.(并将其缓冲长达10s:我的理解是将接收到的信息最多能缓存10s) ...
buffer_.transform(*point_ptr, point_out, target_frame_); ROS_INFO("point of turtle 3 in frame of turtle 1 Position(x:%f y:%f z:%f)\n", point_out.point.x, point_out.point.y, point_out.point.z); } catch (tf2::TransformException &ex) ...
self.tf_buffer = Buffer() self.tf_listener = TransformListener(self.tf_buffer, self) # Create a client to spawn a turtle self.spawner = self.create_client(Spawn, 'spawn') # Boolean values to store the information # if the service for spawning turtle is available ...
buffer_.transform(*point_ptr, point_out, target_frame_);ROS_INFO("point of turtle 3 in frame of turtle 1 Position(x:%f y:%f z:%f)\n", point_out.point.x, point_out.point.y, point_out.point.z); }catch(tf2::TransformException &ex) ...
(self):try:trans=self.tf_buffer.lookup_transform('target_frame','source_frame',rclpy.time.Time())self.get_logger().info(f'Translation:{trans.transform.translation}')self.get_logger().info(f'Rotation:{trans.transform.rotation}')except(tf2_ros.LookupException,tf2_ros.ConnectivityException,tf2_...