添加一个frame 坐标

frame_tf_broadcaster.cpp

   1 #include <ros/ros.h>
   2 #include <tf/transform_broadcaster.h>
   3 
   4 int main(int argc, char** argv){
   5   ros::init(argc, argv, "my_tf_broadcaster");
   6   ros::NodeHandle node;
   7 
   8   tf::TransformBroadcaster br;
   9   tf::Transform transform;
  10 
  11   ros::Rate rate(10.0);
  12   while (node.ok()){
  13     transform.setOrigin( tf::Vector3(0.0, 2.0, 0.0) );
  14     transform.setRotation( tf::Quaternion(0, 0, 0, 1) );
  15     br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "turtle1", "carrot1"));
//在这里，我们创建一个新的转换，从父turtle1到新的carrot1。所述carrot1坐标系在turtle1右侧
  16     rate.sleep();
  17   }
  18   return 0;
  19 };

同时你需要在你的listener重新收听新的坐标系

   1   listener.lookupTransform("/turtle2", "/carrot1",
   2                            ros::Time(0), transform);

之前的坐标系是静态的，现在广播一个动态的参考系

   1     transform.setOrigin( tf::Vector3(2.0*sin(ros::Time::now().toSec()), 2.0*cos(ros::Time::now().toSec()), 0.0) );
   2     transform.setRotation( tf::Quaternion(0, 0, 0, 1) );