dynamic_tf_broadcaster.py

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#!/usr/bin/env python
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import rospy
import tf
import math


if __name__ == '__main__':
    rospy.init_node('dynamic_tf_broadcaster')
    br = tf.TransformBroadcaster()
    rate = rospy.Rate(10.0)
    while not rospy.is_shutdown():
        t = rospy.Time.now().to_sec() * math.pi
        br.sendTransform((10 * math.sin(t), 10 * math.cos(t), 0.0),
                         (0.0, 0.0, 0.0, 1.0),
                         rospy.Time.now(),
                         "carrot1",
                         "turtle1")
        rate.sleep()