README

目录

• transform
  • Introduction
  • Directory Structure
    • Input
    • Output
  • configs
    • How to Launch
  • 文档意见反馈

transform

Introduction

The transform module is used to read the transform configuration file to publish static transform relationships. This module can publish different static coordinate transformations by defining different configurations.

Directory Structure

modules/transform
├── buffer.cc
├── buffer.h
├── buffer_interface.h
├── BUILD
├── conf
├── cyberfile.xml
├── dag
├── launch
├── proto
├── README.md
├── static_transform_component.cc
├── static_transform_component.h
├── static_transform_component_test.cc
├── transform_broadcaster.cc
└── transform_broadcaster.h

Input

None

Output

Name	Type	Description
msg	apollo::transform::Transform	tf msg

configs

file path	type / struct	Description
modules/transform/conf/static_transform_conf.pb.txt	apollo::static_transform::Conf	tf config

How to Launch

cyber_launch start modules/transform/launch/static_transform.launch

文档意见反馈

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