odom->base_link

turtle_tf_listener.cpp

#include <ros/ros.h>
#include <tf/transform_listener.h>
#include <iostream>
using namespace std;
double x,y,z,ww,zz,hh,ii,Aww,Azz,Ahh,Aii;
int main(int argc, char** argv){
  ros::init(argc, argv, "my_tf_listener");

  ros::NodeHandle node;
  tf::TransformListener listener;
  ros::Rate rate(10.0);
  while (node.ok()){
    tf::StampedTransform transform;
    try{

      listener.waitForTransform("odom", "base_link", ros::Time(0), ros::Duration(1.0));
      listener.lookupTransform("odom", "base_link",
                               ros::Time(0), transform);
    }
    catch (tf::TransformException &ex) {
      ROS_ERROR("%s",ex.what());
      ros::Duration(1.0).sleep();
    }

    x=transform.getOrigin().x();
    y=transform.getOrigin().y();
    z=transform.getOrigin().z();


    cout<<"x: "<<x<<endl;
    cout<<"y: &