play.py 文件源码

def _send_transform(self, trans, rotq, i):
        t = TransformStamped()
        t.header.stamp = rospy.Time().now()
        t.header.frame_id = "velodyne"
        t.child_frame_id = 'obs%d' % i
        t.transform.translation.x = trans[0]
        t.transform.translation.y = trans[1]
        t.transform.translation.z = trans[2]
        t.transform.rotation.x = rotq[0]
        t.transform.rotation.y = rotq[1]
        t.transform.rotation.z = rotq[2]
        t.transform.rotation.w = rotq[3]
        self.broadcaster.sendTransform(t)