launch调用tf包的static_transform_publisher时传入参数含义

查看命令

roscore
rosrun tf static_transform_publisher -h

输入参数含义

A command line utility for manually sending a transform.
It will periodicaly republish the given transform. 
Usage: static_transform_publisher x y z yaw pitch roll frame_id child_frame_id  period(milliseconds) 
OR 
Usage: static_transform_publisher x y z qx qy qz qw frame_id child_frame_id  period(milliseconds)

例如

<node name="world_to_arm_base" pkg="tf" type="static_transform_publisher" args="0 -1 1 0 0 0 world base_link 100" />

表示world的坐标系到base_link坐标系的变换关系是x=0 y=-1 z=1 yaw=0 pitch=0 roll=0，坐标系发布周期100毫秒