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並前往https://ethz.ch/content/dam/ethz/special-interest/mavt/robotics-n-intelligent-systems/rsl-dam/ROS2019/ROS%20Course%20Slides%20Course%203.pdf

Programming for Robotics ROS for Beginners

http://wiki.ros.org/tf2/Tutorials/Writing%20a%20tf2%20listener%20%28C%2B%2B%29 geometry_msgs::TransformStamped transformStamped = tfBuffer.

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