https://blog.csdn.net/start_from_scratch/article/details/50762293/
bool waitForTransform()
锁住一段时间,除非一个transform有效或者时间耗尽
void lookupTransform(const std::string &target_frame, const std::string &source_frame, const ros::Time &time, StampedTransform &transform) const
通过frame_ID获取两个坐标系间的transform,将转换值传给&transform