ROS中创建tf的两种方法对比

第一种方法：来源于 http://wiki.ros.org/urdf/Tutorials/Using urdf with robot_state_publisher
cpp源码如下：（相比较于官方的源码，删去了sensor_msgs::JointState部分，只考虑tf的创建与发布）

int main(int argc, char** argv) {
    ros::init(argc, argv, "state_publisher");
    ros::NodeHandle n;
    tf::TransformBroadcaster broadcaster;

    const double degree = M_PI/120;
    double angle = 0;

    // message declarations
/*    This expresses a transform from coordinate frame header.frame_id 
                               to the coordinate frame child_frame_id*/
    geometry_msgs::TransformStamped odom_trans;
    odom_trans.header.frame_id = "odom";
    odom_trans.child_frame_id  = "box";

    ros::Rate loop_rate(30);
    while (ros::ok()) {
        // update transform
        // (moving in a circle with radius=2)
        odom_trans.header.stamp = ros::Time::now();
        odom_trans.transform.translation.x = cos(angle)*2;  //公转半径
        odom_trans.transform.translation.y = sin(angle)*2;  //公转半径
        odom_trans.transform.translation.z = 0;
        odom_trans.transform.rotation = tf::createQuaternionMsgFromYaw(angle+M_PI/2);

        //send the joint state and transform
        broadcaster.sendTransform(odom_trans);