资源

工具

• view_frames
  测试这个命令，可以运行两个小乌龟
  roslaunch turtle_tf turtle_tf_demo.launch

  
  tf测试

有tf运行的话，运行这个命令，就会生成frames.pdf文件，绘制框图

• rosrun tf tf_echo turtle1 turtle2
  这个命令会显示tf坐标系之间的信息

At time 1518100170.266
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, -0.758, 0.652]
            in RPY (radian) [0.000, -0.000, -1.720]
            in RPY (degree) [0.000, -0.000, -98.566]
At time 1518100171.258
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, -0.758, 0.652]
            in RPY (radian) [0.000, -0.000, -1.720]
            in RPY (degree) [0.000, -0.000, -98.566]
At time 1518100172.267
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, -0.758, 0.652]
            in RPY (radian) [0.000, -0.000, -1.720]
            in RPY (degree) [0.000, -0.000, -98.566]
At time 1518100173.259
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, -0.758, 0.652]
            in RPY (radian) [0.000, -0.000, -1.720]
            in RPY (degree) [0.000, -0.000, -98.566]
At time 1518100174.266
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, -0.758, 0.652]
            in RPY (radian) [0.000, -0.000, -1.720]
            in RPY (degree) [0.000, -0.000, -98.566]
At time 1518100175.258
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, -0.758, 0.652]
            in RPY (radian) [0.000, -0.000, -1.720]
            in RPY (degree) [0.000, -0.000, -98.566]
At time 1518100176.267
- Translation: [0.000, 0.000, 0.000]
- Rotation: in Quaternion [0.000, 0.000, -0.758, 0.652]
            in RPY (radian) [0.000, -0.000, -1.720]
            in RPY (degree) [0.000, -0.000, -98.566]