mobile_tracker.py 文件源码

def transform_pose(self, pose):
        try:
            new_pose = self.listener.transformPose(self.frame_id, pose)
            # now new_pose should be the pose of the tag in the odom_meas frame.
            # Let's ignore the height, and rotations not about the z-axis
            new_pose.pose.position.z = 0
        except (tf.LookupException, tf.ConnectivityException, tf.ExtrapolationException):
            return None
        return new_pose