tf2模块的代码在:https://github.com/ros2/geometry2 下载代码到服务器后,编译步骤如下: colcon build # 可以指定要编译的包:colcon build --packages-select tf2 2.2 静态坐标转换的发布节点 uav@uav-mt:/tmp/geometry2$ build/tf2_ros/static_transform_publisher--frame-id"world"--child-frame-id"robot"...
新建cpp文件 src/static_turtle_tf2_broadcaster.cpp,这里只写发布的核心代码,项目完整工程请参阅github仓库,链接见文末。 #include<geometry_msgs/TransformStamped.h>#include<ros/ros.h>#include<tf2_ros/static_transform_broadcaster.h>//tf2静态广播tf#include<cstdio>std::string static_turtle_name;intmain(i...
see here: https://github.com/ros2/robot_state_publisher/blob/ros2/CMakeLists.txt#L13 If we need it, then I propose to open another PR where we revive the cmake_modules package and store the Find*.cmake confiles in a common package. Copy link Contributor Author clalancette Apr 11, ...
.github examples_tf2_py geometry2 test_tf2 tf2 tf2_bullet tf2_eigen tf2_eigen_kdl tf2_geometry_msgs tf2_kdl tf2_msgs tf2_py tf2_ros docs include src buffer.cpp buffer_client.cpp buffer_server.cpp buffer_server_main.cpp create_timer_ros.cpp static_transform_broadcaster.c...
1.docs.ros.org/en/humble/Tutorials/Tf2/Tf2-Main.html2.github.com/ros/geometry_tutorials/tree/ros2 foxy/galactic/humble通用 tf2 在时间缓冲的树结构中维护坐标系之间的关系,并让用户在任何所需的时间点在任意两个坐标系之间变换点、向量等。
在Github网站上可以找到ROS 1的turtle_tf2软件包,打开其launch子目录下的turtle_tf2_sensor.launch文件,可以发现需要运行一个节点turtle_tf2_message_broadcaster,其对应的Python文件是位于该软件包nodes子目录中的turtle_tf2_message_broadcaster.py。打开该Python文件,其代码如下:...
wget https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_py/turtle_tf2_py/fixed_frame_tf2_broadcaster.py 打开fixed_frame_tf2_broadcaster.py文件 from geometry_msgs.msg import TransformStamped import rclpy from rclpy.node import Node ...
wget https://raw.githubusercontent.com/ros/geometry_tutorials/ros2/turtle_tf2_py/turtle_tf2_py/static_turtle_tf2_broadcaster.py 查看文件 import sys from geometry_msgs.msg import TransformStamped import rclpy from rclpy.node import Node from tf2_ros.static_transform_broadcaster import StaticTransformBr...
gitclone git@github.com:shoufei403/ros2_galactic_tutorials.git TF2树 tf2树表征了各个link的位置关系。一个link有且只有一个parent link。所以tf2树是不会形成闭环的。 代码语言:shell AI代码解释 ros2 run tf2_tools view_frames 用这个命令可以保存当前系统中tf2树的关系图(以pdf文件的形式保存在运行命令的...
在测试caffe ssd网络时,执行命令 时报错, 网上说是因为 当前Python版本和编译时Python版本不一致,需要一致使用Python2或者Python3 但是我编译的时候确实是使用的anaconda3,python3.6,当前使用的python版本也是anaconda的python3,还是出现了这个错误。 Github上说caffe对python3的支持不好,遂make cl...Hide...