tf_broadcaster_nose.cpp

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* Author: Gonçalo Cabrita
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#include <ros/ros.h>
#include <tf/transform_broadcaster.h>

int main(int argc, char** argv)
{
        ros::init(argc, argv, "roomba_tf_setup");
        ros::NodeHandle n;
        ros::NodeHandle pn("~");
        
        std::string base_frame_id;
        std::string laser_frame_id;
        std::string nose_frame_id;
        pn.param<std::string>("base_frame_id", base_frame_id, "base_link");
        pn.param<std::string>("laser_frame_id", laser_frame_id, "base_laser");
        pn.param<std::string>("nose_frame_id", nose_frame_id, "base_nose");

        ros::Rate r(50);

        tf::TransformBroadcaster broadcaster;

        while(n.ok())
        {
                broadcaster.sendTransform(tf::StampedTransform(tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.065, 0.000, 0.240)),
                ros::Time::now(), base_frame_id.c_str(), laser_frame_id.c_str()));
                
                broadcaster.sendTransform(tf::StampedTransform(tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.120, 0.000, 0.160)),
                ros::Time::now(), base_frame_id.c_str(), nose_frame_id.c_str()));
                
                r.sleep();
        }
}