写tf listener时遇到的问题:
参考网页:http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20listener%20%28C%2B%2B%29
1. How to publish the pose (position) of the robot after having the tf listener to "listener.lookupTransform("/map", "/base_link", ros::Time(0), transform);"?
解决方法:
use the standard ROS messages to represent pose info. You can use either geometry_msgs/Pose (