tf坐标系广播与监听的编程实现.docx

《tf坐标系广播与监听的编程实现.docx》由会员分享，可在线阅读，更多相关《tf坐标系广播与监听的编程实现.docx（6页珍藏版）》请在淘文阁 - 分享文档赚钱的网站上搜索。

1、tf坐标系广播与监听的编程实现本次通过c语言和python来完成海龟2跟踪海龟1的编程实现创建功能包catkin_create_pkg learning_tf roscpp rospy tf turtlesimlonnger)lonnger-virtual-machine: */catkin_ws/srcpython编程实现说句题外话：视频中没有对python实现进行具体操作，本人自行操作中效仿cpp的操作指 令来进行py运行出现问题所以，接下来的操作是基于网上的解决方法网址如下：1.新建scripts文件夹，里面存放py代码最近使用主目录桌面视频broadcasEer.pyturtle_tf

2、_listener.py图片文档下载2.创建launch文件夹，里面创建一个名为start_h的文件活动臼终端星期日17 ： 45 Q 主文件夹 catkin ws src learning_tf launch最近使用主目录start_ demo, launch桌面视频图片文档下载lonnger（Q）lonnger-virtual-machine: */catkin_ws/src/learning_t/launch音乐文件(F)编辑(E)查看(V)搜索终端(T)帮助(H)回收站lonngerglonnger-virtual-machine:/catkin_ws/src/learning_tf/

3、launch$ touch start_ demo.launchx-nautilu+其他位置，Q 主文件夹 catkin_ws src learning_tf launchstartlaunchla桌面视频 a图片 D文档 。下端文件里面加入如下信息node pkg=turtlesim type=turtle_teleop_key name=teleop output=screen”/ 打开（。） astart_demo.launchkin ws/src/learning tr/ldunch保存 =nodepkg=turtlestm type=turtlestm_node name=,sim7

4、pkg=turtlesim type=turtle_teleop_keyH nane=Mteleop output=screen/|（留意换行）此方法是通过运行launch文件来运行里面提到的py文件3.终端输入如下指令运行start.hroslaunch learningfstart_h/home/lonnger/catkln_ws/src/learning_tf/launch/start_demo.launch http:/localhost:11311-文件(F)编辑(E)查看(V)搜索(S)终端(T)帮助(H)lonngerglonnger-virtual-machine:roslau

5、nch_leantng_tf start_demo.launch. logging to /home/lonnger/.ros/log/ctd8aa40-6$-8-lieb-beee-6lc296588e6/roslaunch-lonnger-virtual-machine-12815.logChecking log directory for disk usage. This may take a while.Press Ctrl-C to interruptDone checking log file disk usage. Usage is http:/Ioniser-vtrtul-Rachtn: 11311/