ROS进阶学习手记 9 -- 关于坐标系统 tf

ROS tf 教程： 写一个tf 发布器

完成了tf的初步认识以后，我们将按照以下的大纲进行ROS_tf的学习：
ref: http://wiki.ros.org/tf/Tutorials
重要的一个参考是  古月居的博客： http://blog.csdn.net/hcx25909/article/details/9255001      

1. 有关tf 的学习大纲  

1. Writing a tf broadcaster (C++)

   This tutorial teaches you how to broadcast coordinate frames of a robot to tf.

2. Writing a tf listener (C++)

   This tutorial teaches you how to use tf to get access to frame transformations.

3. Adding a frame (C++)

   This tutorial teaches you how to add an extra fixed frame to tf.

4. Learning about tf and time (C++)

   This tutorial teaches you to use the waitForTransform function to wait for a transform to be available on the tf tree.

5. Time travel with tf (C++)

   This tutorial teaches you about advanced time travel features of tf

2. 开始本节

    这一节，我们要用C++写一个 tf broadcaster，先创建Package：

Before we get started, you need to create a new ros package for this project. In the sandbox folder, create a package calledlearning_tf that depends on tf,roscpp,