【ROS】Learning tf教程各部分结果

版本（Ubuntu 12.04 X64+hydro）

教程浏览：http://wiki.ros.org/tf/Tutorials

1、Writing
a tf broadcaster (C++)
http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20broadcaster%20%28C%2B%2B%29#CA-bbe9f0e7287601c92c89c77659f8eac567563f3f_17
tf_tree



节点图



2、Writing
a tf listener (C++)



3、Adding
a frame (C++)



4、略

5、Time
travel with tf (C++)



中途遇到的问题：

1、tf tutorial:cannot launch node of type

问题：学习（http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20listener%20%28C%2B%2B%29）时

When following the tf tutorial,there are errors here: After typing "roslaunch turtle_tf_broadcaster start_demo.launch", it returns "ERROR: cannot launch node of type [learning_tf/turtle_tf_broadcaster]: can't locate node [turtle_tf_broadcaster] in package [learning_tf]"
How can I correct it?

解决：

executing the command "source devel/setup.sh" in the catkin workplace before running the launch file. (I always forget to run it....)
http://answers.ros.org/question/74608/tf-tutorialcannot-launch-node-of-type/

2、unable to locate package rqt_tf_tree
解决：http://wiki.ros.org/rqt/UserGuide/Install/Groovy

If you only want to install a specific rqt plugin (rqt_tf_tree for instance):

$ sudo apt-get install ros-%YOUR_ROS_DISTRO%-rqt-tf_tree

Likewise:

$ sudo apt-get install ros-groovy-rqt-tf_tree

这时如果运行rosrun rqt_moveit rqt_tf_tree可能会出现如下问题：

“rqt plugin not listed/found in list returned by "rqt --list-plugins"”

此时解决办法：

$ rm ~/.config/ros.org/rqt_gui.ini

$ rqt

这样在Plugins列表下就能找到对应的插件了呢。默认插件列表：（http://wiki.ros.org/rqt/Plugins）

3、根据http://wiki.ros.org/navigation/Tutorials/RobotSetup/TF操作的时候，中途遇到一个经常性忘记做的事情导致的问题：About the tutorial on Setting up your robot using tf

解决方法：

http://answers.ros.org/question/137566/about-the-tutorial-on-setting-up-your-robot-using-tf/

重新source一下工作空间里边的setup.sh文件：source~/catkin_make/devel/setup.sh

（说明：catkin_make为工作空间）