tfzarj.py 文件源码

def init_transforms(self):
        """ Initialize the tf2 transforms """
        rospy.loginfo("Start transform calibration.")
        self.tf_buffer = tf2_ros.Buffer(rospy.Duration(300.0))
        self.tf_listener = tf2_ros.TransformListener(self.tf_buffer)
        while True:
            try:
                now = rospy.get_rostime()
                self.tf_buffer.lookup_transform('head',
                                                'left_camera_optical_frame',
                                                now - rospy.Duration(0.1))
            except:
                self.rate.sleep()
                continue
            break
        rospy.loginfo('transform calibration finished.')