【ROS】Learning tf教程各部分结果

版本（Ubuntu 12.04 X64+hydro）

教程浏览：http://wiki.ros.org/tf/Tutorials

1、Writing a tf broadcaster (C++)

http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20broadcaster%20%28C%2B%2B%29#CA-bbe9f0e7287601c92c89c77659f8eac567563f3f_17

tf_tree

节点图

2、Writing a tf listener (C++)

3、Adding a frame (C++)

4、略

5、Time travel with tf (C++)

中途遇到的问题： 

1、tf tutorial:cannot launch node of type

问题：学习（http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20listener%20%28C%2B%2B%29）时
When following the tf tutorial,there are errors here: After typing "roslaunch turtle_tf_broadcaster start_demo.launch", it returns "ERROR: cannot launch node of type [learning_tf/turtle_tf_broadcaster]: can't locate node [turtle_tf_broadcaster] in package [learning_tf]" How can I correct it?
解决：
executing the command "source devel/setup.sh" in the catkin workplace before running the launch file. (I always forget to run it....)
http://answers.ros.org/question/74608/tf-tutorialcannot-launch-node-of-type/

2、unable to locate package rqt_tf_tree

解决：http://wiki.ros.org/rqt/UserGuide/Install/Groovy
If you only want to install a specific rqt plugin (rqt_tf_tree for instance):
$ sudo apt-get install ros-%YOUR_ROS_DISTRO%-rqt-tf_tree
Likewise:
$ sudo apt-get install ros-groovy-rqt-tf_tree


这时如果运行rosrun rqt_moveit rqt_tf_tree可能会出现如下问题：
“rqt plugin not listed/found in list returned by "rqt --list-plugins"”
此时解决办法：
$ rm ~/.config/ros.org/rqt_gui.ini
$ rqt
这样在Plugins列表下就能找到对应的插件了呢。默认插件列表：（http://wiki.ros.org/rqt/Plugins）

3、根据http://wiki.ros.org/navigation/Tutorials/RobotSetup/TF操作的时候，中途遇到一个经常性忘记做的事情导致的问题：About the tutorial on Setting up your robot using tf

解决方法：

http://answers.ros.org/question/137566/about-the-tutorial-on-setting-up-your-robot-using-tf/

重新source一下工作空间里边的setup.sh文件：source~/catkin_make/devel/setup.sh 

（说明： catkin_make为工作空间）