<node pkg="tf" type="static_transform_publisher" name="map_to_odom" args="0.0 0.0 0.0 0 0 0.0 /odom /base_link 10"/>
<node pkg="tf" type="static_transform_publisher" name="base_frame_laser" args="0 0 0 0 0 0 /base_link /laser 10"/>
eg:
<launch>
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="1 0 0 0 0 0 1 link1_parent link1 100" />
</launch>
1、static_transform_publisher x y z yaw pitch roll frame_id child_frame_id period_in_ms
2、static_transform_publisher x y z qx qy qz qw frame_id child_frame_id period_in_ms
static_transform_publisher有两种发布方式,一种是发布yaw pitch roll,一种是发布四元数。而且用法既可以通过命令行形式敲命令,也可以写进launch文件中启动。
具体参考
https://blog.csdn.net/tiancailx/article/details/78910317
https://www.cnblogs.com/CZM-/p/5947584.html