send_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     rate = rospy.Rate(10)
00047     radius = 5
00048     t = 0
00049     while not rospy.is_shutdown():
00050         for m in range(1,10):
00051             br.sendTransform((radius * math.cos(t), radius * math.sin(t), 0),
00052                              tf.transformations.quaternion_from_euler(0, 0, t),
00053                              rospy.Time.now(),
00054                              "base_link",
00055                              "map")
00056         t += .01
00057         rate.sleep()
00058 


rviz
Author(s): Dave Hershberger, Josh Faust
autogenerated on Mon Jan 6 2014 11:54:33