00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2008, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of the Willow Garage nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 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