tfzarj.py 文件源码

def received_pose_calibration(self, data):
        """ Receive a pose message for calibration """
        if self.pose_subscriber is None:
            return
        self.base_pose = data
        self.pose_subscriber.unregister()
        self.pose_subscriber = None
        self.world_transform = Vector3(
            data.pose.pose.position.x - self.gazebo_model.x,
            data.pose.pose.position.y - self.gazebo_model.y,
            data.pose.pose.position.z - self.gazebo_model.z)