ROS回顾学习(11): TF之static_transform_publisher

主要用于静态坐标转换。

• 两种发布形式

1.俯仰角+位置坐标

// static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms
	
<launch>
  <node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 1.57 0 link1_parent link1 100" />
</launch>

1.四元数+位置坐标

 // static_transform_publisher x y z qx qy qz qw frame_id child_frame_id  period_in_ms
	
	<launch>
      	<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 1 link1_parent link1 100" />
    </launch>
    

• 参数详解

1.前面的x-y-z坐标代表平移， 单位是米；
2.俯仰角（yaw. pitch, roll）分别代表绕三个周旋转，单位是弧度。为防止弄错， 给出官网的解释：

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.