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<li class="toctree-l3"><a class="reference internal" href="#id4">4.3.4. 设备状态与诊断</a></li>
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<li class="toctree-l2"><a class="reference internal" href="coordinate_and_tf.html">4.4. ROS2机器人坐标系 vs 相机光学坐标系</a><ul>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-tf">4.4.1. ROS2 TF工具的使用</a><ul>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#id1">4.4.1. 相机传感器结构</a></li>
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<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-vs">4.4.3. ROS2机器人坐标系 vs 相机光学坐标系</a></li>
<li class="toctree-l3"><a class="reference internal" href="coordinate_and_tf.html#ros2-tf">4.4.4. ROS2 TF工具的使用</a><ul>
<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#id2">4.4.4.1. 查看TF树结构</a></li>
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<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.2.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
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<li class="toctree-l4"><a class="reference internal" href="coordinate_and_tf.html#obcameranode-calcandpublishstatictransform">4.4.5.1. 核心函数：<code class="docutils literal notranslate"><span class="pre">OBCameraNode::calcAndPublishStaticTransform()</span></code></a></li>
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