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File _service:obs_scm:README.en.md of Package geometry2
# geometry2 #### Description A metapackage to bring in the default packages second generation Transform Library in ros, tf2. tf2 is the second generation of the transform library, which lets the user keep track of multiple coordinate frames over time. tf2 maintains the relationship between coordinate frames in a tree structure buffered in time, and lets the user transform points, vectors, etc between any two coordinate frames at any desired point in time. #### Software Architecture Software architecture description geometry2 include tf2, input: ``` geometry2/ ├── geometry2 │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ └── package.xml ├── tf2 │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ ├── index.rst │ ├── mainpage.dox │ ├── package.xml │ ├── src │ └── test ├── tf2_bullet │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ ├── mainpage.dox │ ├── package.xml │ └── test ├── tf2_eigen │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ ├── mainpage.dox │ ├── package.xml │ └── test ├── tf2_geometry_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── conf.py │ ├── include │ ├── index.rst │ ├── mainpage.dox │ ├── package.xml │ ├── rosdoc.yaml │ ├── scripts │ ├── setup.py │ ├── src │ └── test ├── tf2_kdl │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── conf.py │ ├── include │ ├── index.rst │ ├── mainpage.dox │ ├── package.xml │ ├── rosdoc.yaml │ ├── scripts │ ├── setup.py │ ├── src │ └── test ├── tf2_msgs │ ├── action │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ ├── mainpage.dox │ ├── msg │ ├── package.xml │ └── srv ├── tf2_py │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── package.xml │ ├── setup.py │ └── src ├── tf2_ros │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── doc │ ├── include │ ├── package.xml │ ├── rosdoc.yaml │ ├── setup.py │ ├── src │ └── test ├── tf2_sensor_msgs │ ├── CHANGELOG.rst │ ├── CMakeLists.txt │ ├── include │ ├── package.xml │ ├── setup.py │ ├── src │ └── test └── tf2_tools ├── CHANGELOG.rst ├── CMakeLists.txt ├── mainpage.dox ├── package.xml └── scripts ``` #### Installation 1. Download RPM aarch64: wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_aarch64/aarch64/ros-noetic-ros-geometry2/ros-noetic-ros-geometry2-0.7.5-1.oe2203.aarch64.rpm x86_64: wget https://117.78.1.88/build/home:davidhan:branches:openEuler:22.03:LTS/standard_x86_64/x86_64/ros-noetic-ros-geometry2/ros-noetic-ros-geometry2-0.7.5-1.oe2203.x86_64.rpm 2. Install RPM aarch64: sudo rpm -ivh ros-noetic-ros-geometry2-0.7.5-1.oe2203.aarch64.rpm --nodeps --force x86_64: sudo rpm -ivh ros-noetic-ros-geometry2-0.7.5-1.oe2203.x86_64.rpm --nodeps --force #### Instructions Dependence installation sh /opt/ros/noetic/install_dependence.sh Exit the following output file under the /opt/ros/noetic/ directory , Prove that the software installation is successful ``` tf2 ├── cmake.lock ├── env.sh ├── lib │ ├── libtf2.so │ ├── pkgconfig │ └── tf2 ├── local_setup.bash ├── local_setup.sh ├── local_setup.zsh ├── setup.bash ├── setup.sh ├── _setup_util.py ├── setup.zsh └── share └── tf2 tf2_bullet ├── cmake.lock ├── env.sh ├── lib │ ├── pkgconfig │ └── tf2_bullet ├── local_setup.bash ├── local_setup.sh ├── local_setup.zsh ├── setup.bash ├── setup.sh ├── _setup_util.py ├── setup.zsh └── share └── tf2_bullet tf2_eigen ├── cmake.lock ├── env.sh ├── lib │ └── pkgconfig ├── local_setup.bash ├── local_setup.sh ├── local_setup.zsh ├── setup.bash ├── setup.sh ├── _setup_util.py ├── setup.zsh └── share └── tf2_eigen tf2_geometry_msgs ├── cmake.lock ├── env.sh ├── lib │ ├── pkgconfig │ └── python2.7 ├── local_setup.bash ├── local_setup.sh ├── local_setup.zsh ├── setup.bash ├── setup.sh ├── _setup_util.py ├── setup.zsh └── share └── tf2_geometry_msgs tf2_kdl ├── cmake.lock ├── env.sh ├── lib │ ├── pkgconfig │ ├── python2.7 │ └── tf2_kdl ├── local_setup.bash ├── local_setup.sh ├── local_setup.zsh ├── setup.bash ├── setup.sh ├── _setup_util.py ├── setup.zsh └── share └── tf2_kdl tf2_msgs ├── cmake.lock ├── env.sh ├── include │ └── tf2_msgs ├── lib │ ├── pkgconfig │ └── python2.7 ├── local_setup.bash ├── local_setup.sh ├── local_setup.zsh ├── setup.bash ├── setup.sh ├── _setup_util.py ├── setup.zsh └── share ├── common-lisp ├── gennodejs ├── roseus └── tf2_msgs tf2_py ├── cmake.lock ├── env.sh ├── lib │ ├── pkgconfig │ └── python2.7 ├── local_setup.bash ├── local_setup.sh ├── local_setup.zsh ├── setup.bash ├── setup.sh ├── _setup_util.py ├── setup.zsh └── share └── tf2_py tf2_ros ├── cmake.lock ├── env.sh ├── lib │ ├── libtf2_ros.so │ ├── pkgconfig │ ├── python2.7 │ └── tf2_ros ├── local_setup.bash ├── local_setup.sh ├── local_setup.zsh ├── setup.bash ├── setup.sh ├── _setup_util.py ├── setup.zsh └── share └── tf2_ros tf2_sensor_msgs ├── cmake.lock ├── env.sh ├── lib │ ├── pkgconfig │ ├── python2.7 │ └── tf2_sensor_msgs ├── local_setup.bash ├── local_setup.sh ├── local_setup.zsh ├── setup.bash ├── setup.sh ├── _setup_util.py ├── setup.zsh └── share └── tf2_sensor_msgs tf2_tools ├── cmake.lock ├── env.sh ├── lib │ └── pkgconfig ├── local_setup.bash ├── local_setup.sh ├── local_setup.zsh ├── setup.bash ├── setup.sh ├── _setup_util.py ├── setup.zsh └── share └── tf2_tools ``` #### Contribution 1. Fork the repository 2. Create Feat_xxx branch 3. Commit your code 4. Create Pull Request #### Gitee Feature 1. You can use Readme\_XXX.md to support different languages, such as Readme\_en.md, Readme\_zh.md 2. Gitee blog [blog.gitee.com](https://blog.gitee.com) 3. Explore open source project [https://gitee.com/explore](https://gitee.com/explore) 4. The most valuable open source project [GVP](https://gitee.com/gvp) 5. The manual of Gitee [https://gitee.com/help](https://gitee.com/help) 6. The most popular members [https://gitee.com/gitee-stars/](https://gitee.com/gitee-stars/)
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