localization.py 文件源码

def get_navigation_tf(self, navigation_pose):
        navigation_tf = TransformStamped()
        navigation_tf.header.frame_id = "/map"
        navigation_tf.header.stamp = rospy.Time.now()
        navigation_tf.child_frame_id = "/odom"
        navigation_tf.transform.translation .x = navigation_pose.x
        navigation_tf.transform.translation .y = navigation_pose.y
        navigation_tf.transform.rotation = self.get_ros_quaternion(
                    almath.Quaternion_fromAngleAndAxisRotation(navigation_pose.theta, 0, 0, 1))
        return navigation_tf