tf坐标系广播与监听的编程实现

创建功能包

cd ~/catkin_ws/src
catkin_create_pkg learning_tf roscpp rospy tf turtlesim

创建tf广播器代码（C++）
learning_tf/src/turtle_tf_broadcaster.cpp
learning_tf/src/turtle_tf_listener.cpp

配置tf广播器与监听器代码编译规则

编译并运行

cd ~/catkin_ws
catkin_make
source devel/setup.bash
roscore
rosrun turtlesim turtlesim_node
rosrun learning_tf turtle_tf_broadcaster __name:=turtle1_tf_broadcaster /turtle1
rosrun learning_tf turtle_tf_broadcaster __name:=turtle2_tf_broadcaster /turtle2
rosrun learning_tf turtle_tf_listener
rosrun turtlesim turtle_teleop_key

解读

• 将节点turtle_tf_broadcaster.cpp中的my_tf_broadcaster重命名为turtle1_tf_broadcaster，坐标系名/turtle1，会产生turtle1与world的关系

rosrun learning_tf turtle_tf_broadcaster __name:=turtle1_tf_broadcaster /turtle1