tf::TransformBroadcaster

简化tf发布转换任务，可以用来进行坐标转换
示例程序

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <turtlesim/Pose.h>
std::string turtle_name;

void poseCallback(const turtlesim::PoseConstPtr& msg){

  // 1. 创建一个tf发布对象
  static tf::TransformBroadcaster br;

  // 2. 创建一个tf对象
  tf::Transform transform;
　　
  // 3. 设置tf的平移旋转，（把小龟的２ｄ位姿复制到３ｄ变换）
  transform.setOrigin( tf::Vector3(msg->x, msg->y, 0.0) );
  tf::Quaternion q;
  q.setRPY(0, 0, msg->theta);
  transform.setRotation(q);

  // 4. 发布tf变换
  br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", turtle_name));
}

int main(int argc, char** argv){
  ros::init(argc, argv, "turtle_tf_broadcaster");
  if (argc != 2)
  {ROS_ERROR("need turtle name as argument"); return -1; };
  turtle_name = argv[1];
  ros::NodeHandle node;
  ros::Subscriber sub = node.subscribe(turtle_name+"/pose", 10, &poseCallback);
  ros::spin();
  return 0;
};