rviz第一视角/跟随视角配置

rviz第一视角/跟随视角

为rviz仿真环境设置仿真视角

(1)建立新的坐标系

a.cmakelist中

find_package(catkin REQUIRED COMPONENTS
  roscpp
  quadrotor_msgs
  uav_utils
  cmake_utils
  tf)#增加tf

b.include

#include <tf/transform_broadcaster.h>

c.建立tf

tf::TransformBroadcaster br;
tf::Transform transform;

d.实时数据

transform.setOrigin( tf::Vector3(odom_msg.pose.pose.position.x, odom_msg.pose.pose.position.y, odom_msg.pose.pose.position.z));
transform.setRotation( tf::Quaternion(odom_msg.pose.pose.orientation.x,odom_msg.pose.pose.orientation.y ,odom_msg.pose.pose.orientation.z, odom_msg.pose.pose.orientation.w) );
br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", "corrat1"));

(2)在target frame 选择corrat1

(3)再次调整和窗口的角度 保存rviz

(选择framalign会更加跟随偏航角)

效果