ros-Tf坐标系广播与监听的编程实现

ros-Tf坐标系广播与监听的编程实现

步骤：

1.创建功能包

catkin_create_pkg learning_tf roscpp rospy tf turtlesim

包括功能包的依赖

2.粘贴代码文件到src

3.编译，将编译规则拷贝到cmakelist.txt文件

add_executable(turtle_tf_broadcaster src/turtle_tf_broadcaster.cpp)
target_link_libraries(turtle_tf_broadcaster ${catkin_LIBRARIES})

add_executable(turtle_tf_listener src/turtle_tf_listener.cpp)
target_link_libraries(turtle_tf_listener ${catkin_LIBRARIES})

4.catkin——make

5.roscore

注：本内容整理古月居ros21讲，代码下载地址：https://download.csdn.net/download/weixin_45839124/12410125