BaxterArmClient.py 文件源码

def transformations(self):
        """Transform rods' coordinate system to the Baxter's coordinate system."""
        self.listener.waitForTransform("/base", "/rods", rospy.Time(0), rospy.Duration(8.0))
        (trans, rot) = self.listener.lookupTransform('/base', '/rods', rospy.Time(0))
        return trans