ros动态坐标变换 发布方 C++案例实现，发布turtlesim的坐标信息

ros 动态坐标转换案例

步骤

1.初始化
2.新建Nodehandler
3.创建订阅方，订阅turtlesim的位姿信息
4.订阅的位姿信息发送 topic:/tf

验证方法

1.用rviz查看
2.用rostopic echo /tf 查看

代码以及最终效果

创建工程以及编译过程，此处省略，如有疑问可以查看我以前写的文章。

catkin_create_pkg dynamic_coodinate_tf tf2 tf2_ros tf2_geometry_msgs roscpp std_msgs geometry_msgs turtlesim

#include "ros/ros.h"
#include "turtlesim/Pose.h"
#include "tf2_ros/transform_broadcaster.h"
#include "geometry_msgs/TransformStamped.h"
#include "tf2/LinearMath/Quaternion.h"
void doPose(const turtlesim::Pose::ConstPtr &pose)
{
    static tf2_ros::TransformBroadcaster pub;
    geometry_msgs::TransformStamped ts;
    ts.header.frame_id = "world";
    ts.header.stamp = ros::Time::now();
    ts.child_frame_id = "turtle1";
    ts.transform.translation.x = pose->x;
    ts.transform.translation.y = pose->y;
    ts.transform.translation.z = 0;
    tf2::Quaternion qtn;
    qtn.setRPY(0,0,pose->theta);
    ts.transform.rotation.x = qtn.getX();
    ts.transform.rotation.y = qtn.getY();
    ts.transform.rotation.z = qtn.getZ();
    ts.transform.rotation.w = qtn.getW();
    pub.sendTransform(ts);
}
int main(int argc,char **argv)
{
    //Init
    ros::init(argc,argv,"dynamic_pub");
    //create node handle
    ros::NodeHandle nh;
    //create  subscriber
    ros::Subscriber sub = nh.subscribe("/turtle1/pose",100,doPose);
    //spin
    ros::spin();
    return 0;
}