example_tf_tree.cpp
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00001 #include <ros/ros.h>
00002 #include <tf/transform_broadcaster.h>
00003 #include <tf/tf.h>
00004 
00005 using namespace std;
00006 
00007 //create a tf tree to play around with
00008 
00009 
00010 int main(int argc, char** argv)
00011 {
00012     ros::init(argc, argv, "example_tf_tree");
00013 
00014     ros::NodeHandle node;
00015 
00016     tf::TransformBroadcaster tb;
00017 
00018     ros::Rate rate(30.0);
00019 
00020 
00021     double angle = 0;
00022     ros::Time start_time = ros::Time::now();
00023 
00024 
00025     while (node.ok())
00026     {
00027 
00028         tf::Transform trans;
00029         trans.setOrigin(tf::Vector3(0.7,0,0));
00030         trans.setRotation(tf::Quaternion(tf::Vector3(0,0,1), -M_PI / 5));
00031         tb.sendTransform(tf::StampedTransform(trans,ros::Time::now(),"/map","/base_link"));
00032         trans.setOrigin(tf::Vector3(0,0.2,0));
00033         trans.setRotation(tf::Quaternion(tf::Vector3(0,0,1), M_PI / 4));
00034         tb.sendTransform(tf::StampedTransform(trans,ros::Time::now(),"/base_link","/eye"));
00035         trans.setOrigin(tf::Vector3(0,0.5,0));
00036         trans.setRotation(tf::Quaternion(tf::Vector3(0,0,1), M_PI / 3));
00037         tb.sendTransform(tf::StampedTransform(trans,ros::Time::now(),"/eye","object"));
00038         trans.setOrigin(tf::Vector3(0.2,0,0));
00039         trans.setRotation(tf::Quaternion(tf::Vector3(0,0,1), M_PI / 2));
00040         tb.sendTransform(tf::StampedTransform(trans,ros::Time::now(),"/base_link","/gripper"));
00041 
00042         angle = (ros::Time::now() - start_time).toSec() * 10 / 180 * M_PI;
00043 
00044         trans.setOrigin(tf::Vector3(-1.5,0,0));
00045         trans.setRotation(tf::Quaternion(tf::Vector3(0,0,1), 0));
00046         tb.sendTransform(tf::StampedTransform(trans,ros::Time::now(),"/map","/table"));
00047 
00048         trans.setOrigin(tf::Vector3(.5,.5,.5));
00049         trans.setRotation(tf::Quaternion(tf::Vector3(0,0,1), angle));
00050         tb.sendTransform(tf::StampedTransform(trans,ros::Time::now(),"/table","/turntable"));
00051 
00052         trans.setOrigin(tf::Vector3(0.4,0.4,0.1));
00053         trans.setRotation(tf::Quaternion(tf::Vector3(0,0,1), 0));
00054         tb.sendTransform(tf::StampedTransform(trans,ros::Time::now(),"/turntable","/object_on_table"));
00055 
00056 
00057         rate.sleep();
00058 
00059         ros::spinOnce();
00060 
00061     }
00062     return 0;
00063 };
00064 
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uncertain_tf
Author(s): Thomas Ruehr
autogenerated on Thu May 23 2013 17:49:36