transform

[mickeyouyou]

  TransformStamped transform;
  if (tf_buffer_->GetLatestStaticTF(frame_id, child_frame_id, &transform)) {
    ConstructTransformationMatrix(transform.transform().rotation(),
                                  transform.transform().translation(), matrix);
    return true;
  }

[mickeyouyou]

bool Compensator::QueryPoseAffineFromTF2(const uint64_t& timestamp, void* pose,
                                         const std::string& child_frame_id) {
  cyber::Time query_time(timestamp);
  std::string err_string;
  if (!tf2_buffer_ptr_->canTransform(
          config_.world_frame_id(), child_frame_id, query_time,
          config_.transform_query_timeout(), &err_string)) {
    AERROR << "Can not find transform. " << timestamp
           << " frame_id:" << child_frame_id << " Error info: " << err_string;
    return false;
  }

  apollo::transform::TransformStamped stamped_transform;

  try {
    stamped_transform = tf2_buffer_ptr_->lookupTransform(
        config_.world_frame_id(), child_frame_id, query_time);
  } catch (tf2::TransformException& ex) {
    AERROR << ex.what();
    return false;
  }

  Eigen::Affine3d* tmp_pose = (Eigen::Affine3d*)pose;
  *tmp_pose =
      Eigen::Translation3d(stamped_transform.transform().translation().x(),
                           stamped_transform.transform().translation().y(),
                           stamped_transform.transform().translation().z()) *
      Eigen::Quaterniond(stamped_transform.transform().rotation().qw(),
                         stamped_transform.transform().rotation().qx(),
                         stamped_transform.transform().rotation().qy(),
                         stamped_transform.transform().rotation().qz());
  return true;
}

``

[mickeyouyou]

publish odometry info by velicity sport model

https://www.cnblogs.com/21207-iHome/p/8066135.html
https://www.cnblogs.com/zeen/p/12506173.html

[mickeyouyou]

1. Publish odometry tf message by chassis component

2. Publish laser scan tf static message by static transform publisher component

3. Publish map frame to odometry frame by Gmapping