fixed_tf_broadcaster.py
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1 #!/usr/bin/env python
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33 
34 import rospy
35 import tf
36 import tf.msg
37 import geometry_msgs.msg
38 
39 
41 
42  def __init__(self):
43  self.pub_tf = rospy.Publisher("/tf", tf.msg.tfMessage, queue_size=1)
44 
45  while not rospy.is_shutdown():
46  # Run this loop at about 10Hz
47  rospy.sleep(0.1)
48 
49  t = geometry_msgs.msg.TransformStamped()
50  t.header.frame_id = "turtle1"
51  t.header.stamp = rospy.Time.now()
52  t.child_frame_id = "carrot1"
53  t.transform.translation.x = 0.0
54  t.transform.translation.y = 2.0
55  t.transform.translation.z = 0.0
56 
57  t.transform.rotation.x = 0.0
58  t.transform.rotation.y = 0.0
59  t.transform.rotation.z = 0.0
60  t.transform.rotation.w = 1.0
61 
62  tfm = tf.msg.tfMessage([t])
63  self.pub_tf.publish(tfm)
64 
65 if __name__ == '__main__':
66  rospy.init_node('fixed_tf_broadcaster')
68  rospy.spin()


turtle_tf
Author(s): James Bowman, Isaac Saito
autogenerated on Mon Jun 10 2019 13:24:44