tf_publisher.py

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#!/usr/bin/python
#################################################################
##\file
#
# \note
# Copyright (c) 2010 \n
# Fraunhofer Institute for Manufacturing Engineering
# and Automation (IPA) \n\n
#
#################################################################
#
# \note
# Project name: Care-O-bot Research
# \note
# ROS stack name: cob_environments
# \note
# ROS package name: cob_gazebo_worlds
#
# \author
# Author: Nadia Hammoudeh Garcia, email:nadia.hammoudeh-garcia@ipa.fhg.de
# \author
# Supervised by: Nadia Hammoudeh Garcia, email:nadia.hammoudeh-garcia@ipa.fhg.de
#
# \date Date of creation: Nov 2012
#
# \brief
# 
#
#################################################################
#
# Redistribution and use in source and binary forms, with or without
# modification, are permitted provided that the following conditions are met:
#
# - Redistributions of source code must retain the above copyright
# notice, this list of conditions and the following disclaimer. \n
# - Redistributions in binary form must reproduce the above copyright
# notice, this list of conditions and the following disclaimer in the
# documentation and/or other materials provided with the distribution. \n
# - Neither the name of the Fraunhofer Institute for Manufacturing
# Engineering and Automation (IPA) nor the names of its
# contributors may be used to endorse or promote products derived from
# this software without specific prior written permission. \n
#
# This program is free software: you can redistribute it and/or modify
# it under the terms of the GNU Lesser General Public License LGPL as
# published by the Free Software Foundation, either version 3 of the
# License, or (at your option) any later version.
#
# This program is distributed in the hope that it will be useful,
# but WITHOUT ANY WARRANTY; without even the implied warranty of
# MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
# GNU Lesser General Public License LGPL for more details.
#
# You should have received a copy of the GNU Lesser General Public
# License LGPL along with this program.
# If not, see < http://www.gnu.org/licenses/>.
#
#################################################################  
import roslib
roslib.load_manifest('cob_gazebo_worlds')

import rospy
import tf
import math

if __name__ == '__main__':
    rospy.init_node('my_tf_broadcaster')
    br = tf.TransformBroadcaster()
    rate = rospy.Rate(10.0)
    while not rospy.is_shutdown():
        t = rospy.Time.now().to_sec()
        br.sendTransform((0,0,0.01),
                         (0.0, 0.0, 0.0, 1.0),
                         rospy.Time.now(),
                         "map",
                         "dummy_link")
        rate.sleep()