send_tf.py

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#!/usr/bin/env python
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#!/usr/bin/env python

import roslib
roslib.load_manifest('rviz')
import rospy
import math

import tf

if __name__ == '__main__':
    rospy.init_node('send_tf')

    br = tf.TransformBroadcaster()
    rate = rospy.Rate(10)
    radius = 5
    t = 0
    while not rospy.is_shutdown():
        for m in range(1,10):
            br.sendTransform((radius * math.cos(t), radius * math.sin(t), 0),
                             tf.transformations.quaternion_from_euler(0, 0, t),
                             rospy.Time.now(),
                             "base_link",
                             "map")
        t += .01
        rate.sleep()