tf树的一些理解

(yaw is rotation about Z, pitch is rotation about Y, and roll is rotation about X）

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tf下的发布静态坐标关系：

<launch>
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="x y z 绕z 绕y 绕x parent_link child_link 100" /> 
</launch>

try {
            listener.waitForTransform("target_frame","source_frame",time_stamp, ros::Duration(0.5));
            listener.transformPose("target_frame",pose_in_source_frame, pose_in_target_frame);
       }
catch(tf::TransformException& ex){
             ROS_ERROR("Failed to transform from source to target: %s\n", ex.what());
             return false;
        }

    const geometry_msgs::Pose& pose = xx;
    tf::Pose tf_pose;
    tf::poseMsgToTF(pose, tf_pose);
    double theta = tf::getYaw(tf_pose.getRotation());///绕z

geometry_msgs::PoseStamped robot_pose=xx;

double yaw,pitch,roll;

ros::Rate r(10);
transform.setRotation( tf::Quaternion(robot_pose.pose.orientation.x,
                                               robot_pose.pose.orientation.y,
                                               robot_pose.pose.orientation.z,
                                               robot_pose.pose.orientation.w) );
        transform.getBasis().getEulerYPR(yaw, pitch, roll);

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1.建立和维护一棵tf树。主要是通过不停地向tf树发送各个坐标系之间的转换关系，也就是位置关系，来维护一个tf树。主要用到的指令就是：

 static tf::TransformBroadcaster br;
  tf::Transform transform;
  transform.setOrigin( tf::Vector3(msg->x, msg->y, 0.0) );