一、节点中使用（cpp，python）
1. ros wiki 提供的tutorials
2. https://blog.csdn.net/start_from_scratch/article/details/50762293/
重点理解 tf广播 和 tf监听 方法！
二、命令行使用
tf_monitor: monitors transforms between frames. 可以查看参考坐标系之间的转换关系和发布频率
rosrun tf tf_monitor
rosrun tf tf_monitor <source_frame> <target_frame>
tf_echo: prints specified transform to screen. 查看参考坐标系之间的转换矩阵
rosrun tf tf_echo <source frame> <target frame>
view_frame: visualizes the full tree of coordinate transforms
rosrun tf view_frames
evince frames.pdf
static_transform_publish
static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms
- Publish a static coordinate transform to tf using an x/y/z offset in meters and yaw/pitch/roll in radians. (yaw is rotation about Z, pitch is rotation about Y, and roll is rotation about X). The period, in milliseconds, specifies how often to send a transform. 100ms (10hz) is a good value.
static_transform_publisher x y z qx qy qz qw frame_id child_frame_id period_in_ms
- Publish a static coordinate transform to tf using an x/y/z offset in meters and quaternion. The period, in milliseconds, specifies how often to send a transform. 100ms (10hz) is a good value.