fixed_tf_broadcaster.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
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00004 # Copyright (c) 2008, Willow Garage, Inc.
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00033 
00034 import rospy
00035 import tf
00036 import tf.msg
00037 import geometry_msgs.msg
00038 
00039 
00040 class FixedTFBroadcaster:
00041 
00042     def __init__(self):
00043         self.pub_tf = rospy.Publisher("/tf", tf.msg.tfMessage, queue_size=1)
00044 
00045         while not rospy.is_shutdown():
00046             # Run this loop at about 10Hz
00047             rospy.sleep(0.1)
00048 
00049             t = geometry_msgs.msg.TransformStamped()
00050             t.header.frame_id = "turtle1"
00051             t.header.stamp = rospy.Time.now()
00052             t.child_frame_id = "carrot1"
00053             t.transform.translation.x = 0.0
00054             t.transform.translation.y = 2.0
00055             t.transform.translation.z = 0.0
00056 
00057             t.transform.rotation.x = 0.0
00058             t.transform.rotation.y = 0.0
00059             t.transform.rotation.z = 0.0
00060             t.transform.rotation.w = 1.0
00061 
00062             tfm = tf.msg.tfMessage([t])
00063             self.pub_tf.publish(tfm)
00064 
00065 if __name__ == '__main__':
00066     rospy.init_node('fixed_tf_broadcaster')
00067     tfb = FixedTFBroadcaster()
00068     rospy.spin()


turtle_tf
Author(s): James Bowman, Isaac Saito
autogenerated on Thu Aug 10 2017 02:47:16