send_lots_of_tf.py
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00001 #!/usr/bin/env python
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00033 #!/usr/bin/env python
00034 
00035 import roslib
00036 roslib.load_manifest('rviz')
00037 import rospy
00038 import math
00039 
00040 import tf
00041 
00042 if __name__ == '__main__':
00043     rospy.init_node('send_tf')
00044 
00045     br = tf.TransformBroadcaster()
00046     r = rospy.Rate(10)
00047     t = 0
00048     while not rospy.is_shutdown():
00049         for m in range(1,20):
00050             br.sendTransform((0, 0, 0),
00051                              tf.transformations.quaternion_from_euler(0, .8*m, 0),
00052                              rospy.Time.now(),
00053                              "frame0_{0}".format(m),
00054                              "base_link")
00055             for n in range(1,20):
00056                 br.sendTransform((.2*math.sin(t*10+n), 0, .2),
00057                                  tf.transformations.quaternion_from_euler(0, .6 * math.sin(t), .2),
00058                                  rospy.Time.now(),
00059                                  "frame{0}_{1}".format(n, m),
00060                                  "frame{0}_{1}".format(n-1, m))
00061         t += .01
00062         r.sleep()
00063 


rviz
Author(s): Dave Hershberger, Josh Faust
autogenerated on Mon Jan 6 2014 11:54:32