www.gusucode.com > robotics 案例源码程序 matlab代码 > robotics/SendATransformationToTheROSNetworkExample.m

    %% Send A Transformation to the ROS Network
% This example shows how to create a transformation and send it over the
% ROS network. 

%%
% Create a ROS transformation tree. You must be connected to a ROS network
% using |rosinit|. Replace |ipaddress| with your ROS network address.
ipaddress = '172.28.194.91';
rosinit(ipaddress)
tftree = rostf;
pause(2);

%%
% Verify the transformation you want does not exist. |canTransform|
% returns false if the transformation is not immediately available.
canTransform(tftree,'new_frame','base_link')

%%
% Create a |TransformStamped| message. Populate with the transformation
% information. 

tform = rosmessage('geometry_msgs/TransformStamped')
tform.ChildFrameId = 'new_frame';
tform.Header.FrameId = 'base_link';
tform.Transform.Translation.X = 0.5;
tform.Transform.Rotation.Z = 0.75;

%%
% Send the transformation over the ROS network.
sendTransform(tftree,tform)

%%
% Check if the transformation is now on the ROS network
canTransform(tftree,'new_frame','base_link')

%% 
% Shut down the ROS network.
rosshutdown