机器人视觉项目：视觉检测识别+机器人跟随（7）

1.kinect人体骨架追踪中有tf树变换，了解tf树的广播和订阅原理，尝试通过订阅在人体骨架跟踪中tf变换广播的骨架关节点位置坐标信息，获取跟踪目标的位置。

$ cd %TOP_DIR_YOUR_CATKIN_WS%/src
$ catkin_create_pkg robot_setup_tf roscpp tf geometry_msgs

src/tf_broadcaster.cpp

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>

int main(int argc, char** argv){

  ros::init(argc, argv, "robot_tf_publisher");

  ros::NodeHandle n;

  ros::Rate r(100);

  tf::TransformBroadcaster broadcaster;

  while(n.ok()){

    broadcaster.sendTransform(

      tf::StampedTransform(

        tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.1, 0.0, 0.2)),

        ros::Time::now(),"base_link", "base_laser"));

    r.sleep();

  }

}

src/tf_listener.cpp

#include <ros/ros.h>
#include <geometry_msgs/PointStamped.h>

#