// 声明“将ROS项目文件”转换成C++/python项目文件所需的功能包  
find_package(catkin REQUIRED COMPONENTS  geometry_msgs  roscpp  rospy  std_msgs  tf2  tf2_geometry_msgs  tf2_ros  dynamic_reconfigure  message_generation  
)  
// 生成.cfg配置文件  
generate_dynamic_reconfigure_options(  cfg/frame_change.cfg  # cfg/DynReconf2.cfg  
)  
// 声明编译所需功能包  
catkin_package(  
#  INCLUDE_DIRS include  
#  LIBRARIES static_tf  CATKIN_DEPENDS geometry_msgs roscpp rospy std_msgs tf2 tf2_geometry_msgs tf2_ros dynamic_reconfigure message_runtime  
#  DEPENDS system_lib  
)  
// 包含catkin官方库的头文件  
include_directories(  
# include  ${catkin_INCLUDE_DIRS}  
)  
// 编译为可执行文件  
add_executable(dynamic_pub src/dynamic_pub.cpp)  
add_executable(dynamic_sub src/dynamic_sub.cpp)  
// 声明依赖关系  
add_dependencies(dynamic_pub ${PROJECT_NAME}_gencfg ${catkin_EXPORTED_TARGETS})  
// 链接可执行文件  
target_link_libraries(dynamic_sub  ${catkin_LIBRARIES}  
)  
target_link_libraries(dynamic_pub  ${catkin_LIBRARIES}  
)  

<buildtool_depend>catkin</buildtool_depend>  
<build_depend>geometry_msgs</build_depend>  
<build_depend>roscpp</build_depend>  
<build_depend>rospy</build_depend>  
<build_depend>std_msgs</build_depend>  
<build_depend>tf2</build_depend>  
<build_depend>tf2_geometry_msgs</build_depend>  
<build_depend>tf2_ros</build_depend>  
<build_depend>dynamic_reconfigure</build_depend>  
<build_depend>message_generation</build_depend>  
<build_export_depend>geometry_msgs</build_export_depend>  
<build_export_depend>roscpp</build_export_depend>  
<build_export_depend>rospy</build_export_depend>  
<build_export_depend>std_msgs</build_export_depend>  
<build_export_depend>tf2</build_export_depend>  
<build_export_depend>tf2_geometry_msgs</build_export_depend>  
<build_export_depend>tf2_ros</build_export_depend>  
<build_export_depend>dynamic_reconfigure</build_export_depend>  
<exec_depend>geometry_msgs</exec_depend>  
<exec_depend>roscpp</exec_depend>  
<exec_depend>rospy</exec_depend>  
<exec_depend>std_msgs</exec_depend>  
<exec_depend>tf2</exec_depend>  
<exec_depend>tf2_geometry_msgs</exec_depend>  
<exec_depend>tf2_ros</exec_depend>  
<exec_depend>dynamic_reconfigure</exec_depend>  
<exec_depend>message_runtime</exec_depend> 

from dynamic_reconfigure.parameter_generator_catkin import *  
gen = ParameterGenerator();  
# translation handler  
gen.add("translation_x",double_t,0,"translation along with X axis",0,0,1);  
gen.add("translation_y",double_t,1,"translation along with Y axis",0,0,1);  
gen.add("translation_z",double_t,2,"translation along with Z axis",0,0,1);  
# rotation handler  
gen.add("rotation_x",double_t,3,"rotation angle around X axis",0,0,90);  
gen.add("rotation_y",double_t,4,"rotation angle around Y axis",0,0,90);  
gen.add("rotation_z",double_t,5,"rotation angle around Z axis",0,0,90);  exit(gen.generate("static_tf","dynamic_pub","frame_change"));  

#include "ros/ros.h"  
#include "static_tf/frame_changeConfig.h"  
#include "dynamic_reconfigure/server.h"  
#include "tf2_ros/transform_broadcaster.h"  
#include "geometry_msgs/TransformStamped.h"  
#include "tf2/LinearMath/Quaternion.h"  
#include <sstream>  void callback(static_tf::frame_changeConfig &obj, uint32_t level)  
{  std::ostringstream ostr;  ostr<<"translation:"<<obj.translation_x<<","<<obj.translation_y<<","<<obj.translation_z<<"\n\t";  ostr<<"rotation:"<<obj.rotation_x<<","<<obj.rotation_y<<","<<obj.rotation_z<<"\n\t";  ROS_INFO("frame info:%s",ostr.str().c_str());  
}  int main(int argc,char* argv[])  
{  setlocale(LC_ALL,"");  ros::init(argc,argv,"dynamic_pub");  dynamic_reconfigure::Server<static_tf::frame_changeConfig> server;  dynamic_reconfigure::Server<static_tf::frame_changeConfig>::CallbackType callbackfunc;  callbackfunc = boost::bind(&callback,_1,_2);  // parameter:boost function object instead of the point of that  server.setCallback(callbackfunc);  tf2_ros::TransformBroadcaster pub;  ros::NodeHandle nh("dynamic_pub");  ros::Rate rate(1);  while(ros::ok()){  geometry_msgs::TransformStamped data;  data.header.frame_id = "base_link";  data.header.stamp = ros::Time::now();  data.child_frame_id = "laser";  data.transform.translation.x = nh.param("translation_x",0);  data.transform.translation.y = nh.param("translation_y",0);  data.transform.translation.z = nh.param("translation_z",0);  tf2::Quaternion qtn;  qtn.setRPY(nh.param("rotation_x",0.0),nh.param("rotation_y",0.0),nh.param("rotation_z",0.0));  data.transform.rotation.w = qtn.getW();  data.transform.rotation.x = qtn.getX();  data.transform.rotation.y = qtn.getY();  data.transform.rotation.z = qtn.getZ();  // publish data  pub.sendTransform(data);  // callback function  ros::spinOnce();  // sleep   rate.sleep();  }  return 0;  
}

#include "ros/ros.h"  
#include "tf2_ros/transform_listener.h"  
#include "geometry_msgs/PointStamped.h"  
#include "tf2_geometry_msgs/tf2_geometry_msgs.h"  int main(int argc,char* argv[])  
{  setlocale(LC_ALL,"");  ros::init(argc,argv,"dynamic_sub");  tf2_ros::Buffer buffer;  tf2_ros::TransformListener listener(buffer);  ros::Rate rate(1);  while(ros::ok()){  geometry_msgs::PointStamped point_laser;  point_laser.header.frame_id = "laser";  point_laser.header.stamp = ros::Time();  point_laser.point.x = 0.1;  point_laser.point.y = 0.5;  point_laser.point.z = 0.3;  try  {  geometry_msgs::PointStamped point_base_link = buffer.transform(point_laser,"base_link");  ROS_INFO("point based on %s frame:%f,%f,%f\n\t",point_base_link.header.frame_id.c_str(),  point_base_link.point.x,point_base_link.point.y,point_base_link.point.z);  }  catch(const std::exception& e)  {  std::cerr << e.what() << '\n';  }  rate.sleep();  }  return 0;  
}