仅做一下记录,因为这个我折腾了好久,防止忘记
参考
http://docs.ros.org/jade/api/tf/html/python/tf_python.html
http://docs.ros.org/kinetic/api/tf/html/python/tf_python.html#transformerros
http://docs.ros.org/api/geometry_msgs/html/index-msg.html
http://docs.ros.org/jade/api/tf/html/c++/classtf_1_1StampedTransform.html
C++版本
监听tf的关系
try
{
this->tf_camera_to_robot.waitForTransform("/base_link", "/camera_link", ros::Time(0), ros::Duration(50.0));
}
catch (tf::TransformException &ex)
{
ROS_ERROR("[adventure_tf]: (wait) %s", ex.what());
ros::Duration(1.0).sleep();
}
try
{
this->tf_camera_to_robot.