lse_roomba_tf_setup: tf_broadcaster

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00035 * Author: Gonçalo Cabrita
00036 *********************************************************************/
00037 #include <ros/ros.h>
00038 #include <tf/transform_broadcaster.h>
00039 #include <math.h>
00040 
00041 #define SONAR_RADIUS 0.125
00042 
00043 int main(int argc, char** argv)
00044 {
00045         ros::init(argc, argv, "roomba_tf_setup");
00046         ros::NodeHandle n;
00047 
00048         ros::Rate r(50);
00049 
00050         tf::TransformBroadcaster broadcaster;
00051 
00052         while(n.ok())
00053         {
00054                 broadcaster.sendTransform(tf::StampedTransform(tf::Transform(tf::createQuaternionFromYaw(M_PI/2.0), tf::Vector3(SONAR_RADIUS*cos(M_PI/2.0), SONAR_RADIUS*sin(M_PI/2.0), 0.120)),
00055                 ros::Time::now(),"base_link", "/base_sonar_0"));
00056 
00057                 broadcaster.sendTransform(tf::StampedTransform(tf::Transform(tf::createQuaternionFromYaw(M_PI/4.0), tf::Vector3(SONAR_RADIUS*cos(M_PI/4.0), SONAR_RADIUS*sin(M_PI/4.0), 0.120)),
00058                 ros::Time::now(),"base_link", "/base_sonar_1"));
00059 
00060                 broadcaster.sendTransform(tf::StampedTransform(tf::Transform(tf::createQuaternionFromYaw(0.0), tf::Vector3(SONAR_RADIUS, 0.000, 0.120)),
00061                 ros::Time::now(),"base_link", "/base_sonar_2"));
00062 
00063                 broadcaster.sendTransform(tf::StampedTransform(tf::Transform(tf::createQuaternionFromYaw(-M_PI/4.0), tf::Vector3(SONAR_RADIUS*cos(-M_PI/4.0), SONAR_RADIUS*sin(-M_PI/4.0), 0.120)),
00064                 ros::Time::now(),"base_link", "/base_sonar_3"));
00065 
00066                 broadcaster.sendTransform(tf::StampedTransform(tf::Transform(tf::createQuaternionFromYaw(-M_PI/2.0), tf::Vector3(SONAR_RADIUS*cos(-M_PI/2.0), SONAR_RADIUS*sin(-M_PI/2.0), 0.120)),
00067                 ros::Time::now(),"base_link", "/base_sonar_4"));
00068                 
00069                 r.sleep();
00070         }
00071 }