ros noetic中没有from tf2_sensor_msgs.tf2_sensor_msgs

是的，您是正确的。在ROS Noetic中，确实没有名为`tf2_sensor_msgs.tf2_sensor_msgs`的Python模块。这是因为在ROS Noetic中，`tf2_sensor_msgs`软件包已被取消，并与`sensor_msgs`软件包合并。因此，如果您需要使用`sensor_msgs/PointCloud2`和`tf2`之间的转换功能，则可以使用`tf2_sensor_msgs`软件包中提供的`do_transform_cloud()`函数，该函数在ROS Noetic中仍然可用。您可以使用以下命令安装`tf2_sensor_msgs`软件包：

sudo apt-get install ros-noetic-tf2-sensor-msgs

然后，在您的Python脚本中，您可以使用以下语句导入`do_transform_cloud()`函数：

from tf2_sensor_msgs.tf2_sensor_msgs import do_transform_cloud

相关问题

在ros noetic的sensor_msgs中可以用什么函数代替tf2_sensor_msgs.tf2_sensor_msgs中的do_transform_cloud

在ROS Noetic中，`sensor_msgs`软件包中提供了一个名为`transformPointCloud()`的函数，可以将`sensor_msgs/PointCloud2`消息从一个坐标系转换到另一个坐标系。该函数的语法如下：

transformPointCloud(target_frame, cloud_in, cloud_out, listener)

其中，`target_frame`是要转换到的目标坐标系的名称，`cloud_in`是输入的`sensor_msgs/PointCloud2`消息，`cloud_out`是输出的转换后的`sensor_msgs/PointCloud2`消息，`listener`是一个`tf.TransformListener`对象，用于获取两个坐标系之间的转换关系。

以下是一个例子，演示如何在ROS Noetic中使用`transformPointCloud()`函数将一个`sensor_msgs/PointCloud2`消息从`camera_link`坐标系转换到`base_link`坐标系：

import rospy
import tf
from sensor_msgs.msg import PointCloud2
from sensor_msgs import point_cloud2
from tf2_sensor_msgs.tf2_sensor_msgs import do_transform_cloud

rospy.init_node('transform_point_cloud')

listener = tf.TransformListener()

cloud_in = rospy.wait_for_message('/camera/depth/color/points', PointCloud2)

cloud_out = PointCloud2()
transformPointCloud("base_link", cloud_in, cloud_out, listener)

# Process the transformed point cloud as desired
for p in point_cloud2.read_points(cloud_out, field_names=("x", "y", "z"), skip_nans=True):
    # Do something with the point cloud data

请注意，`transformPointCloud()`函数的输入和输出都是`sensor_msgs/PointCloud2`消息，因此您需要使用`sensor_msgs.point_cloud2`模块中的函数来读取和处理点云数据。

Could not find a package configuration file provided by "tf2_sensor_msgs" with any of the following names: tf2_sensor_msgsConfig.cmake tf2_sensor_msgs-config.cmake

This error message suggests that your system is missing the "tf2_sensor_msgs" package configuration file, which is required by your project.

To resolve this issue, you can try installing the missing package using the package manager of your operating system or manually installing it from source.

For example, if you are using Ubuntu, you can try installing the package using the following command in the terminal:

sudo apt-get install ros-<distro>-tf2-sensor-msgs

Replace `<distro>` with the name of your ROS distribution, such as "melodic" or "noetic".

If the package is not available in your system's package manager, you can download and install it manually from its source repository, which is typically hosted on GitHub.