tf

• 可视化ROS2的tf树

ros2 run tf2_tools view_frames.py

• ros2 run tf2_ros static_transform_publisher 1 2 3 0.5 0.1 -1.0 foo bar

• ros2 run tf2_ros tf2_echo foo bar

运行结果:

At time 197.27000000
- Translation: [0.008, -0.000, 0.064]
- Rotation: in Quaternion [-0.000, -0.001, -0.010, 1.000]
- Rotation: in RPY (radian) [-0.000, -0.002, -0.020]
- Rotation: in RPY (degree) [-0.001, -0.092, -1.160]
- Matrix:
  1.000  0.020 -0.002  0.008
 -0.020  1.000  0.000 -0.000
  0.002 -0.000  1.000  0.064
  0.000  0.000  0.000  1.000