Why coordinate transformation?
What is TF
tf can buffer according to time and maintain the coordinate transformation between multiple reference systems. It can transform the coordinate data at any time to complete the coordinate transformation.
Command tool in TF package
TF function package API
Lidar coordinate TF transformation
There are generally two forms of coordinate transformation: Euler angle, quaternion
static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms
Code explanation:
type: the broadcast node
args in the tf function package : the first three elements correspond to the error on (x, y, z), and the last three are the angles in the (x, y, z) direction. Represented in radians.
Parent coordinate system, own coordinate system, broadcast time interval (ms).