ros2 run tf2_ros static_transform_publisher --x x --y y --z z --qx qx --qy qy --qz qz --qw qw --frame-id frame_id --child-frame-id child_frame_id static_transform_publisher 既设计为手动使用的命令行工具,也可在启动文件中使用以设置静态转换。 例如: 代码语言:javascript 代码运行次...
uav@uav-mt:/tmp/geometry2$ build/tf2_ros/static_transform_publisher--frame-id"world"--child-frame-id"robot" 2.3 查看静态坐标转换 每次订阅/tf_static 都会收到1次全量的静态tf 关系; . /tmp/geometry2/install/setup.bash ros2 topic list ros2 topicecho /tf_static 3 坐标转换的发布者的类图 3....
<launch> <node pkg="tf2_ros" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 link1_parent link1" /> </launch> 1.3 发布坐标变换:broadcaster发出world和turtle_name之间的坐标变换; static tf2_ros::TransformBroadcaster br; // 创建一般的tfbr geometry_msgs::...
首先运行static_transform_publisher节点以生成tf2数据,命令为: ros2 run tf2_ros static_transform_publisher 1 2 3 0.5 0.1 -1.0 foo bar 这样会看到下面所示的输出消息: [INFO] [1622748687.104445070] [static_transform_publisher_o2ZYVsjwT73ZvZb4]: Spinning until killed publishing transform from 'foo' to...
ros2 run tf2_ros static_transform_publisher 0 0 3 0 0 3.14 B C 如果在终端中看到下面的提示则代表发布成功 2.2 发布C到P的位姿 接着我们发布坐标系{C}到坐标系{T}的位姿 再打开一个新的终端,输入下面的命令: ros2 run tf2_ros static_transform_publisher 2 1 2 0 0 0 C P ...
ros2 run tf2_ros static_transform_publisher 1 2 3 0.5 0.1 -1.0 foo bar 该工具将通过(X,Y,Z)变换(1,2,3)和(roll, pitch, yaw)旋转变换(0.5,0.1,-1.0)来发布从父框架foo到子框架栏的静态转换。 接收变换数据 通过tf2_echo来检查可能接收到的变换数据 ...
#include <tf2_ros/static_transform_broadcaster.h> #include <memory> using std::placeholders::_1; class StaticFramePublisher : public rclcpp::Node { public: explicit StaticFramePublisher(char * transformation[]) : Node("static_turtle_tf2_broadcaster") ...
介绍TF2与TF比较，重点在于静态坐标变换演示。启动TF2与TF版本的静态坐标变换：TF2版本静态坐标变换：rosrun tf2_ros static_transform_publisher 0 0 0 0 0 0 /base_link /laser TF版本静态坐标变换：rosrun tf static_transform_publisher 0 0 0 0 0 0 /base_link /laser 100 TF版本在启动中...
from tf2_ros.static_transform_broadcaster import StaticTransformBroadcaster import tf_transformations class StaticFramePublisher(Node): """ Broadcast transforms that never change. This example publishes transforms from `world` to a static turtle frame. ...
ros2 run tf2_ros static_transform_publisher1230.50.1-1.0foo bar That tool will publish a static transform from the parent framefooto the child framebarwith (X, Y, Z) translation (1, 2, 3) and (roll, pitch, yaw) rotation (0.5, 0.1, -1.0). 该工具将发布从父帧foo到子帧bar的静态变换...