turtle_tf_broadcaster.py
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1 #!/usr/bin/env python
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33 #!/usr/bin/env python
34 
35 import rospy
36 
37 import tf
38 import turtlesim.msg
39 
40 
41 def handle_turtle_pose(msg, turtlename):
43  br.sendTransform((msg.x, msg.y, 0),
44  tf.transformations.quaternion_from_euler(0, 0, msg.theta),
45  rospy.Time.now(),
46  turtlename,
47  "world")
48 
49 if __name__ == '__main__':
50  rospy.init_node('turtle_tf_broadcaster')
51  turtlename = rospy.get_param('~turtle')
52  rospy.Subscriber('/%s/pose' % turtlename,
53  turtlesim.msg.Pose,
54  handle_turtle_pose,
55  turtlename)
56  rospy.spin()
def handle_turtle_pose(msg, turtlename)


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