tag_transforms.py 文件源码

def __init__(self, frequency):

        self.tag_names = rospy.get_param("tag_names")
        self.frame_id = rospy.get_param("~frame_id")
        self.transforms = rospy.get_param("tags")
        self.rate = rospy.Rate(frequency)
        #self.sub = rospy.Subscriber(self.tag_position_topic, PoseArray, self.tag_position_cb)

        self.br = tf.TransformBroadcaster()

        self.make_transforms()