简单的ros::tf介绍

costmap_2d –> 代价地图
costmap_2d::Costmap2DROS 是 costmap_2d::Costmap2D 的封装

namespace costmap_2d;

---

构造函数

Costmap2DROS (std::string name, tf::TransformListener &tf)

name : map的名字

tf : 一个TransformListener的引用

实例

tf::TransformListener tf(ros::Duration(10));
costmap_2d::Costmap2DROS costmap("my_costmap", tf);

// 来自ros官方

---

bool getRobotPose(tf::Stamped<tf::Pose>& global_pose) const;

  /**
   * @brief Get the pose of the robot in the global frame of the costmap
   * @param global_pose Will be set to the pose of the robot in the global frame of the costmap
   * @return True if the pose was set successfully, false otherwise
   */
  bool getRobotPose(tf::Stamped<tf::Pose>& global_pose) const;

返回值 : 是否成功获得机器人的位置
参数 : 一个tf::Stamped<tf::Pose> 以记录位置

---

std::string getGlobalFrameID()

  /**
   * @brief  Returns the global frame of the costmap
   * @return The global frame of the costmap
   */
  std::string getGlobalFrameID()
    {
      return global_frame_;
    }

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