tf_broadcaster.cpp

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* Author: Eitan Marder-Eppstein
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#include <ros/ros.h>
#include <tf/transform_broadcaster.h>

int main(int argc, char** argv){
  ros::init(argc, argv, "robot_tf_publisher");
  ros::NodeHandle n;

  ros::Rate r(100);

  tf::TransformBroadcaster broadcaster;

  while(n.ok()){
    broadcaster.sendTransform(
                              tf::StampedTransform(tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.1, 0.0, 0.2)), 
                                                   ros::Time::now(), 
                                                   "base_link", 
                                                   "base_laser"));
    r.sleep();
  }
}