tf static_transform_publisher的物理意义

static_transform_publisher发布的是父系到子系的坐标系变换，即，将父系变化得到子系的方法。

一个例子：

<node pkg="tf" type="static_transform_publisher" name="base_link1_to_camera" args="1 0 0 1.570795 0 0        /camera /b1   10" />
<node pkg="tf" type="static_transform_publisher" name="base_link2_to_camera" args="2 0 0 1.570795 1.570795 0        /camera /b2   10" />
<node pkg="tf" type="static_transform_publisher" name="base_link3_to_camera" args="3 0 0 1.570795 1.570795 1.570795        /camera /b3   10" />
<node pkg="tf" type="static_transform_publisher" name="base_link4_to_camera" args="4 0 0 1.570795 1.570795 -1.570795        /camera /b4   10" />

Z轴为蓝，X轴为红。

参考文章：https://blog.csdn.net/brightming/article/details/117450459