ROS进二阶学习笔记（1） TF 学习笔记2: -- TF Broadcaster 编写 （Python）

ROS进二阶学习笔记（1） TF 学习笔记2 -- TF Broadcaster

Ref:  http://wiki.ros.org/tf/Tutorials#Learning_tf
>>Ref: Writing a tf broadcaster (Python)

This tutorial teaches you how to broadcast the state of a robot to tf.

Ref内的东西请读者自行研读，这里要做点总结：

1.  /tf topic上 是有一个发布器broadcaster 发布 /tf 消息才能被 /tf 的 listener 收听到。
2.  /tf 的发布器类：python: tf.TransformBroadcaster 所以我们要理解它里面的方法： sendTransform(translation, rotation, time, child, parent)
   

1. 先看看tf broadcaster的示例代码：

#!/usr/bin/env python  
import roslib
roslib.load_manifest('learning_tf')
import rospy

import tf
import turtlesim.msg

def handle_turtle_pose(msg, turtlename): 
    br = tf.TransformBroadcaster()
    br.sendTransform((msg.x, msg.y, 0), #the translation of the transformtion as a tuple (x, y, z)
                     tf.transformations.quaternion_from_euler(0, 0, msg.theta), 
                                                #the rotation of the transformation as a tuple (x, y, z, w)
                     rospy.Time.now(), #the time of the transformation, as a rospy.Time()
                     turtlename, #child frame in tf, string
                     "world") #parent frame in tf, string

if __name__ == '__main__':
    rospy.init_node('turtle_tf_broadcas