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  • ROS tf(现在都使用tf2了)

    一、节点中使用(cpp,python)

    1. ros wiki 提供的tutorials

    2. https://blog.csdn.net/start_from_scratch/article/details/50762293/

    重点理解 tf广播 和 tf监听 方法!

    二、命令行使用

    tf_monitor:  monitors transforms between frames. 可以查看参考坐标系之间的转换关系和发布频率

    rosrun tf tf_monitor
    rosrun tf tf_monitor <source_frame> <target_frame>

    tf_echo: prints specified transform to screen. 查看参考坐标系之间的转换矩阵

    rosrun tf tf_echo <source frame> <target frame>

    view_frame: visualizes the full tree of coordinate transforms

    rosrun tf view_frames
    evince frames.pdf

    static_transform_publish

    static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms

    • Publish a static coordinate transform to tf using an x/y/z offset in meters and yaw/pitch/roll in radians. (yaw is rotation about Z, pitch is rotation about Y, and roll is rotation about X). The period, in milliseconds, specifies how often to send a transform. 100ms (10hz) is a good value.

    static_transform_publisher x y z qx qy qz qw frame_id child_frame_id  period_in_ms

    • Publish a static coordinate transform to tf using an x/y/z offset in meters and quaternion. The period, in milliseconds, specifies how often to send a transform. 100ms (10hz) is a good value.
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  • 原文地址:https://www.cnblogs.com/gdut-gordon/p/10403685.html
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