#!/usr/bin/env python  
import roslib
roslib.load_manifest('tf_demo')
import rospy
 
import tf
import turtlesim.msg
 
def handle_turtle_pose(msg, turtlename): 
    br = tf.TransformBroadcaster()
    br.sendTransform((msg.x, msg.y, 0), #the translation of the transformtion as a tuple (x, y, z)
                     tf.transformations.quaternion_from_euler(0, 0, msg.theta), 
                                                #the rotation of the transformation as a tuple (x, y, z, w)
                     rospy.Time.now(), #the time of the transformation, as a rospy.Time()
                     turtlename, #child frame in tf, string
                     "world") #parent frame in tf, string
 
if __name__ == '__main__':
    rospy.init_node('turtle_tf_broadcaster')
    turtlename = rospy.get_param('~turtle')  
                     #takes parameter "turtle", which specifies a turtle name, e.g. "turtle1" or "turtle2" 
    rospy.Subscriber('/%s/pose' % turtlename, # subscribe to turtlename's /pose topic
                     turtlesim.msg.Pose,      # Pose message data structure
                     handle_turtle_pose,      # callback function,
                     turtlename)              # argument for callback function
    rospy.spin()

发布者启动代码文件：

  <launch>
    <!-- Turtlesim Node-->
    <node pkg="turtlesim" type="turtlesim_node" name="sim"/>
    <node pkg="turtlesim" type="turtle_teleop_key" name="teleop" output="screen"/>
 
    <node name="turtle1_tf_broadcaster" pkg="tf_demo" type="broadcaster.py" respawn="false" output="screen" >
      <param name="turtle" type="string" value="turtle1" />
    </node>
    <node name="turtle2_tf_broadcaster" pkg="tf_demo" type="broadcaster.py" respawn="false" output="screen" >
      <param name="turtle" type="string" value="turtle2" /> 
    </node>
 
  </launch>

启动监听、计算距离，并执行文件：

  <launch>
    ...
    <node pkg="tf_demo" type="listener.py" name="listener" />
  </launch>

 启动相对turtle1增添的动态坐标系文件：

<launch>
    ...
    <node pkg="tf_demo" type="add_dynamic_frame.py"
          name="broadcaster_dynamic" />
  </launch>