geometry2 源码详细分析

工作区路径：/home/cp/work2/ros2Learn/ros2_humble/src/ros2/geometry2
子包数量：15

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1. 定位

坐标变换库 tf2：Buffer + Listener + Broadcaster，替代 ROS 1 tf。含 Eigen/KDL/Bullet 转换与 tf2_ros Python/C++ API。

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2. 子包列表

包名	版本	说明
examples_tf2_py	0.25.20	Has examples of using the tf2 Python API.
geometry2	0.25.20	A metapackage to bring in the default packages second genera…
test_tf2	0.25.20	tf2 unit tests
tf2	0.25.20	tf2 is the second generation of the transform library, which…
tf2_bullet	0.25.20	tf2_bullet
tf2_eigen	0.25.20	tf2_eigen
tf2_eigen_kdl	0.25.20	Conversion functions between: - Eigen and KDL
tf2_geometry_msgs	0.25.20	tf2_geometry_msgs
tf2_kdl	0.25.20	KDL binding for tf2
tf2_msgs	0.25.20	tf2_msgs
tf2_py	0.25.20	The tf2_py package
tf2_ros	0.25.20	This package contains the C++ ROS bindings for the tf2 libra…
tf2_ros_py	0.25.20	This package contains the ROS Python bindings for the tf2 li…
tf2_sensor_msgs	0.25.20	Small lib to transform sensor_msgs with tf. Most notably, Po…
tf2_tools	0.25.20	tf2_tools

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3. 核心组件

15 包：核心 tf2（BufferCore）、tf2_ros、tf2_geometry_msgs、tf2_py。与 robot_state_publisher 配合发布 static TF。

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4. 在 ROS 2 Humble 栈中的关系

见 ros2总览.md 分层图。

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5. 推荐阅读顺序

1. tf2/buffer_core.h 2. tf2_ros/transform_listener 3. tf2_msgs

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6. 小结

geometry2 为含 15 个子包的源码树，是 ROS 2 Humble 发行版的一部分。