安装：sudoapt-getinstallros-indigo-kdl-parser-py使用：importPyKDLimportmathdefquat_to_angle(quat):rot=PyKDL.Rotation.Quaternion(quat.x,quat.y,quat.z,quat.w)retu...

 #!/usr/bin/pythonimportPyKDLimportrospyfromsensor_msgs.msgimportImufromnav_msgs.msgimportOdometryfromgeometry_msgs.msgimportTwistfrommathimport*importthre...