ros笔记

ROS2

ros1向ros2迁移

https://github.com/ros2/ros2_documentation/blob/master/source/Contributing/Migration-Guide.rst

ROS1

tf相关:

• 查看tf tree
  rosrun rqt_tf_tree rqt_tf_tree

• 查看某两个坐标系的tf
  rosrun tf tf_echo [reference_frame] [target_frame]