recode in python
I got trouble in this code coz I just know python,Is there any one that could help me recode this in python?I'm very grateful!
#include <ros/ros.h>
#include <geometry_msgs/PointStamped.h>
#include <tf/transform_listener.h>
void transformPoint(const tf::TransformListener& listener){
//we'll create a point in the base_laser frame that we'd like to transform to the base_link frame
geometry_msgs::PointStamped laser_point;
laser_point.header.frame_id = "base_laser";
//we'll just use the most recent transform available for our simple example
laser_point.header.stamp = ros::Time();
//just an arbitrary point in space
laser_point.point.x = 1.0;
laser_point.point.y = 0.2;
laser_point.point.z = 0.0;
try{
geometry_msgs::PointStamped base_point;
listener.transformPoint("base_link", laser_point, base_point);
ROS_INFO("base_laser: (%.2f, %.2f. %.2f) -----> base_link: (%.2f, %.2f, %.2f) at time %.2f",
laser_point.point.x, laser_point.point.y, laser_point.point.z,
base_point.point.x, base_point.point.y, base_point.point.z, base_point.header.stamp.toSec());
}
catch(tf::TransformException& ex){
ROS_ERROR("Received an exception trying to transform a point from \"base_laser\" to \"base_link\": %s", ex.what());
}
}
int main(int argc, char** argv){
ros::init(argc, argv, "robot_tf_listener");
ros::NodeHandle n;
tf::TransformListener listener(ros::Duration(10));
//we'll transform a point once every second
ros::Timer timer = n.createTimer(ros::Duration(1.0), boost::bind(&transformPoint, boost::ref(listener)));
ros::spin();
}
Please format your code sample so that it is readable.
sorry for that, here I changed
You've copied and pasted the code verbatim from the RobotSetup TF Tutorial. It should work; can you be more specific about the trouble you're having?
I don't know the C++ syntax and roscpp APIs,like these transformPoint(const tf::TransformListener& listener) ros::Timer timer = n.createTimer(ros::Duration(1.0), boost::bind(&transformPoint, boost::ref(listener)) I think I have already grasped the TF but here it's a new puzzled me