tf_publisher.py
Go to the documentation of this file.00001 #!/usr/bin/python 00002 ################################################################# 00003 ##\file 00004 # 00005 # \note 00006 # Copyright (c) 2010 \n 00007 # Fraunhofer Institute for Manufacturing Engineering 00008 # and Automation (IPA) \n\n 00009 # 00010 ################################################################# 00011 # 00012 # \note 00013 # Project name: Care-O-bot Research 00014 # \note 00015 # ROS stack name: cob_simulation 00016 # \note 00017 # ROS package name: cob_bringup_sim 00018 # 00019 # \author 00020 # Author: Nadia Hammoudeh Garcia, email:nadia.hammoudeh-garcia@ipa.fhg.de 00021 # \author 00022 # Supervised by: Nadia Hammoudeh Garcia, email:nadia.hammoudeh-garcia@ipa.fhg.de 00023 # 00024 # \date Date of creation: Nov 2012 00025 # 00026 # \brief 00027 # 00028 # 00029 ################################################################# 00030 # 00031 # Redistribution and use in source and binary forms, with or without 00032 # modification, are permitted provided that the following conditions are met: 00033 # 00034 # - Redistributions of source code must retain the above copyright 00035 # notice, this list of conditions and the following disclaimer. \n 00036 # - Redistributions in binary form must reproduce the above copyright 00037 # notice, this list of conditions and the following disclaimer in the 00038 # documentation and/or other materials provided with the distribution. \n 00039 # - Neither the name of the Fraunhofer Institute for Manufacturing 00040 # Engineering and Automation (IPA) nor the names of its 00041 # contributors may be used to endorse or promote products derived from 00042 # this software without specific prior written permission. \n 00043 # 00044 # This program is free software: you can redistribute it and/or modify 00045 # it under the terms of the GNU Lesser General Public License LGPL as 00046 # published by the Free Software Foundation, either version 3 of the 00047 # License, or (at your option) any later version. 00048 # 00049 # This program is distributed in the hope that it will be useful, 00050 # but WITHOUT ANY WARRANTY; without even the implied warranty of 00051 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00052 # GNU Lesser General Public License LGPL for more details. 00053 # 00054 # You should have received a copy of the GNU Lesser General Public 00055 # License LGPL along with this program. 00056 # If not, see < http://www.gnu.org/licenses/>. 00057 # 00058 ################################################################# 00059 import roslib 00060 roslib.load_manifest('cob_bringup_sim') 00061 00062 import rospy 00063 import tf 00064 import math 00065 00066 if __name__ == '__main__': 00067 rospy.init_node('my_tf_broadcaster') 00068 br = tf.TransformBroadcaster() 00069 rate = rospy.Rate(10.0) 00070 while not rospy.is_shutdown(): 00071 t = rospy.Time.now().to_sec() 00072 br.sendTransform((0,0,0.01), 00073 (0.0, 0.0, 0.0, 1.0), 00074 rospy.Time.now(), 00075 "map", 00076 "dummy_link") 00077 rate.sleep()