## 4.坐标变换发布监听C++实现

因为C++无法在jupyter中直接运行，所以小鱼将C++TF相关的代码放到这里，有需要的同学自取。


```cpp
#include <tf2/utils.h>
#include <tf2_ros/transform_broadcaster.h>


//声明&初始化发布者
std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
tf_broadcaster_ = std::make_unique<tf2_ros::TransformBroadcaster>(this);

//发布
geometry_msgs::msg::TransformStamped transform;
transform.header.stamp = this->now();
transform.header.frame_id = "odom";
transform.child_frame_id = "base_link";
// Fill in transform.transform.translation
transform.transform.translation.x = 0.0;
transform.transform.translation.y = 0.0;
transform.transform.translation.z =0.0;
// Fill in transform.transform.rotation
auto quat = tf2::Quaternion();
quat.setRPY(0.0;, 0.0, 0.0);
transform.transform.rotation.x = 0.0;
transform.transform.rotation.y = 0.0;
transform.transform.rotation.z = 0.0;
transform.transform.rotation.w = 0.0;
tf_broadcaster_->sendTransform(transform);

```