constexpr double kTfBufferCacheTimeInSeconds = 10.;
tf_buffer_node_ = new tf2_ros::Buffer(::ros::Duration(kTfBufferCacheTimeInSeconds));
// tf2_ros::Buffer tf_buffer{::ros::Duration(kTfBufferCacheTimeInSeconds)};
tf2_ = new tf2_ros::TransformListener(*tf_buffer_node_);
虽然感觉tf2_ros::TransformListener没有被使用,但是这个变量在程序运行时要一直存在的,如果被定义为临时变量就大错特错了。