主要内容

转换邮票ed

Create transformation message

expand all in page

Description

The转换邮票edobject is an implementation of thegeometry_msgs/transformstampedmessage type in ROS. The object contains meta-information about the message itself and the transformation. The transformation has a translational and rotational component.

Creation

Syntax

tform = getTransform（tftree，target frame，source frame）

Description

example

tform= getTransform（tftree,targetframe,SourceFrame)returns the latest known transformation between two coordinate frames. Transformations are structured as a 3-D translation (3-element vector) and a 3-D rotation (quaternion).

Properties

expand all

此属性仅阅读。

Message type of ROS message, returned as a character vector.

Data Types:char

此属性仅阅读。

ROS Header message, returned as aHeader目的。This header message contains theMessageType, sequence (Seq), timestamp (邮票), andFrameId.

Second coordinate frame to transform point into, specified as a character vector.

此属性仅阅读。

转换ation message, specified as a转换目的。该对象包含MessageTypewith aTranslationvector andRotationquaternion.

Object Functions

apply 将消息实体转换为目标框架

Examples

collapse all

打开实时脚本

This example looks at the转换邮票edobject to show the underlying structure of a转换邮票edROS消息。设置网络和转换后，您可以创建一个转换树并获得特定坐标系之间的转换。使用showdetailslets you inspect the information in the transformation. It contains theChildFrameId,Header， 和转换.

Start ROS network and setup transformations.

石榴石
启动ROS Core ...在0.58068秒内完成。在http://172.29.207.151：57424初始化ROS Master。初始化带有Nodeuri的全局节点/Matlab_global_node_31012 http：//dcc345885glnxa64：35939/and Masteruri http：// localhost：57424。
exampleHelperROSStartTfPublisher

创建转换树并等待树更新。在机器人基础及其相机中心之间进行转换。

tftree = rostf;waitfortransform（tftree，'camera_center','robot_base'）；tform= getTransform（tftree,'camera_center','robot_base'）；

Inspect the转换邮票ed目的。

showdetails（tform）
Header Stamp Sec : 1645902545 Nsec : 126186241 Seq : 0 FrameId : camera_center Transform Translation X : 0.5 Y : 0 Z : -1 Rotation X : 0 Y : -0.7071067811865476 Z : 0 W : 0.7071067811865476 ChildFrameId : robot_base

访问Translation矢量内部转换property.

trans = tform.Transform.Translation
trans = ROS Vector3 message with properties: MessageType: 'geometry_msgs/Vector3' X: 0.5000 Y: 0 Z: -1.0000 Use showdetails to show the contents of the message

Stop the example transformation publisher.

exampleHelperROSStopTfPublisher

关闭ROS网络。

rosshutdown
Shutting down global node /matlab_global_node_31012 with NodeURI http://dcc345885glnxa64:35939/ and MasterURI http://localhost:57424. Shutting down ROS master on http://172.29.207.151:57424.
打开实时脚本

应用一个转换转换邮票edobject to aPointStamped信息。

Start ROS network and setup transformations.

石榴石
启动ROS核心……在0.68519秒内完成。Initializing ROS master on http://172.29.207.162:56685. Initializing global node /matlab_global_node_35512 with NodeURI http://dcc434238glnxa64:44911/ and MasterURI http://localhost:56685.
exampleHelperROSStartTfPublisher

创建转换树并等待树更新。在机器人基础及其相机中心之间进行转换。Inspect the transformation.

tftree = rostf;waitfortransform（tftree，'camera_center','robot_base'）；tform= getTransform（tftree,'camera_center','robot_base'）；showdetails（tform）
标题邮票SEC：1645902364 NSEC：835052014 SEQ：0 FRAMEID：Camera_Center Transform转换X：0.5 Y：0 Z：-1旋转X：0 Y：-0.7071067811865476 Z：0

Create point to transform. You could also get this point message off the ROS network.

pt = rosmessage('geometry_msgs/PointStamped'）；pt.Header.FrameId ='camera_center';pt.point.x = 3;pt.point.y = 1.5;pt.point.z = 0.2;

Apply the transformation to the point.

tfpt = apply(tform,pt);

关闭ROS网络。

rosshutdown
Shutting down global node /matlab_global_node_35512 with NodeURI http://dcc434238glnxa64:44911/ and MasterURI http://localhost:56685. Shutting down ROS master on http://172.29.207.162:56685.

Version History

Introduced in R2019b

See Also

Functions

Topics