ROS tf理解

#include <ros/ros.h>
   2 #include <tf/transform_broadcaster.h>
   3 #include <turtlesim/Pose.h>
   4 
   5 std::string turtle_name;
   6 
   8 
   9 void poseCallback(const turtlesim::PoseConstPtr& msg){
  10   static tf::TransformBroadcaster br;
        //Transform是一个表示变换的数据结构，可以当作就是一个变换矩阵，
        //表示形式可以有旋转矩阵，欧拉角，四元数
  11   tf::Transform transform;
  12   transform.setOrigin( tf::Vector3(msg->x, msg->y, 0.0) );
  13   tf::Quaternion q;
  14   q.setRPY(0, 0, msg->theta);
  15   transform.setRotation(q);
        //world是父坐标系,turtle_name是子坐标系
        //tf::StampedTransform是message格式,就和sensor_msgs::PointCloud2一样，是一个消息类！！！
  16   br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", turtle_name));
  17 }
  18 
  19 int main(int argc, char** argv){
  20   ros::init(argc, argv, "my_tf_broadcaster");
  21   if (argc != 2){ROS_ERROR("need turtle name as argument"); return -1;};
  22   turtle_name = argv[1];
  23 
  24   ros::NodeHandle node;
  25   ros::Subscriber sub = node.subscribe(turtle_name+"/pose", 10, &poseCallback);
  26 
  27   ros::spin();
  28   return 0;
  29 };