1、catkin_create_pkg learning_tf roscpp rospy tf turtlesim
2、拷贝程序
3、配置cmakelist
add_executable(turtle_tf_broadcaster src/turtle_tf_broadcaster.cpp)
target_link_libraries(turtle_tf_broadcaster ${catkin_LIBRARIES})
add_executable(turtle_tf_listener src/turtle_tf_listener.cpp)
target_link_libraries(turtle_tf_listener ${catkin_LIBRARIES})
4、
rosrun learning_tf turtle_tf_broadcaster __name:=turtle1_tf_broadcaster /turtle1
rosrun learning_tf turtle_tf_broadcaster __name:=turtle2_tf_broadcaster /turtle2
rosrun learning_tf turtle_tf_listener
rosrun turtlesim turtle_teleop_key