1、创建目录mkdir~/ros/eg/src/cpp/laoer_tf2、创建包cd~/ros/eg/src/cpp/laoer_tfros2pkgcreate--build-typeament_cmakelaoer_query_tf\ --dependenciesrclcpptf2_rosgeometry_msgs\ --licenseApache-2.03、源码3.1TF消息TransformStamped1）消息