ROS tf 笔记

broadcaster.sendTransform(
	tf::StampedTransform(
	tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.1, 0.0, 0.2)),
	ros::Time::now(),"base_link", "base_laser"));

tf::Quaternion(0, 0, 0, 1)含义是四元素，x,y,z,w表示如下

x  = ax * sin(θ/2)    
y  = ay * sin(θ/2)    
z  = az * sin(θ/2) 
w = cos(θ/2)    

因为两个参考系没有发生旋转变换，所以倾斜角、滚动角、偏航角都是0，所以值为0,0,0,1.