Odom->base_link

Turtle_tf_listener.cpp

#include <ros/ros.h> #include <tf/transform_listener.h> #include <iostream>using namespace std;  Double x,y,z,ww,zz,hh,ii,aww,azz,ahh,aii;int main (int argc, char** argv) {ros::init (argc, argv, "My_tf_listener");  Ros::nodehandle node;  Tf::transformlistener Listener;  Ros::rate rate (10.0);    while (Node.ok ()) {Tf::stampedtransform transform;      try{Listener.waitfortransform ("Odom", "Base_link", Ros::time (0), Ros::D uration (1.0));    Listener.lookuptransform ("Odom", "Base_link", Ros::time (0), transform);      } catch (Tf::transformexception &ex) {ros_error ("%s", Ex.what ());    Ros::D uration (1.0). Sleep ();    } x=transform.getorigin (). x ();    Y=transform.getorigin (). Y ();    Z=transform.getorigin (). Z ();    cout<< "x:" <<x<<endl;    cout<< "y:" <<y<<endl;     cout<< "Z:" <<z<<endl;     Ww=transform.getrotation () [0];     Zz=transform.getrotation () [1]; Hh=transform.getrotAtion () [2];     Ii=transform.getrotation () [3];     cout<<ww<<endl;     cout<<zz<<endl;     cout<
Turtle_tf_broadcaster.cpp
#include <ros/ros.h> #include <tf/transform_broadcaster.h>int main (int argc, char** argv) {  Ros::init ( ARGC, argv, "My_tf_broadcaster");  Ros::nodehandle node;  Static tf::transformbroadcaster BR;  Tf::transform Transform;  Ros::rate R (+);  while (Node.ok ()) {  Transform.setorigin (Tf::vector3 (1.0, 2.0, 0.0));  Tf::quaternion Q;  Q.setrpy (1.0, 0.2, 0.3);  Transform.setrotation (q);  Br.sendtransform (Tf::stampedtransform (Transform, Ros::time::now (), "Odom", "Base_link"));  R.sleep ();  } return 0;};


Odom->base_link