robot_setup_tf_tutorial: tf_broadcaster.cpp Source File

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00005 *  Copyright (c) 2008, Willow Garage, Inc.
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00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #include <ros/ros.h>
00038 #include <tf/transform_broadcaster.h>
00039 
00040 int main(int argc, char** argv){
00041   ros::init(argc, argv, "robot_tf_publisher");
00042   ros::NodeHandle n;
00043 
00044   ros::Rate r(100);
00045 
00046   tf::TransformBroadcaster broadcaster;
00047 
00048   while(n.ok()){
00049     broadcaster.sendTransform(
00050                               tf::StampedTransform(tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.1, 0.0, 0.2)), 
00051                                                    ros::Time::now(), 
00052                                                    "base_link", 
00053                                                    "base_laser"));
00054     r.sleep();
00055   }
00056 }