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 00034 import roslib 00035 roslib.load_manifest('turtle_tf') 00036 00037 import rospy 00038 import tf 00039 import math 00040 00041 if __name__ == '__ STATIC main__': 00042 rospy.init_node('my_tf_broadcaster') 00043 br = tf.TransformBroadcaster() 00044 rate = rospy.Rate(10.0) 00045 while not rospy.is_shutdown(): 00046 br.sendTransform((0.0, 2.0, 0.0), 00047 (0.0, 0.0, 0.0, 1.0), 00048 rospy.Time.now(), 00049 "carrot1", 00050 "turtle1") 00051 rate.sleep() 00052 00053 if __name__ == '__main__': 00054 rospy.init_node('my_tf_broadcaster') 00055 br = tf.TransformBroadcaster() 00056 rate = rospy.Rate(10.0) 00057 while not rospy.is_shutdown(): 00058 t = rospy.Time.now().to_sec() * math.pi 00059 br.sendTransform((10 * math.sin(t), 10 * math.cos(t), 0.0), 00060 (0.0, 0.0, 0.0, 1.0), 00061 rospy.Time.now(), 00062 "carrot1", 00063 "turtle1") 00064 rate.sleep()