1operate_recognize_object.py 文件源码

def get_odom_angle(self):
        try:
            (trans, rot) = self.tf_listener.lookupTransform(self.odom_frame, self.base_frame, rospy.Time(0))
        except (tf.Exception, tf.ConnectivityException, tf.LookupException):
            rospy.loginfo("TF Exception")
            return
        return self.quat_to_angle(Quaternion(*rot))