check_linear.py 文件源码

def get_position(self):
        # Get the current transform between the odom and base frames
        try:
            (trans, rot)  = self.tf_listener.lookupTransform(self.odom_frame, self.base_frame, rospy.Time(0))
        except (tf.Exception, tf.ConnectivityException, tf.LookupException):
            rospy.loginfo("TF Exception")
            return

        return Point(*trans)