简单的ros::tf介绍

costmap_2d

–> 代价地图

costmap_2d::Costmap2DROS

是

costmap_2d::Costmap2D

的封装

namespace costmap_2d;

构造函数

Costmap2DROS (std::string name, tf::TransformListener &tf)

name

: map的名字

tf

: 一个TransformListener的引用

实例

tf::TransformListener tf(ros::Duration(10));
costmap_2d::Costmap2DROS costmap("my_costmap", tf);

// 来自ros官方

bool getRobotPose(tf::Stamped<tf::Pose>& global_pose) const;

/**
* @brief Get the pose of the robot in the global frame of the costmap
* @param global_pose Will be set to the pose of the robot in the global frame of the costmap
* @return True if the pose was set successfully, false otherwise
*/
bool getRobotPose(tf::Stamped<tf::Pose>& global_pose) const;

返回值 : 是否成功获得机器人的位置

参数 : 一个

tf::Stamped<tf::Pose>

以记录位置

std::string getGlobalFrameID()

/**
* @brief  Returns the global frame of the costmap
* @return The global frame of the costmap
*/
std::string getGlobalFrameID()
{
return global_frame_;
}

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