static_odom_broadcaster.py
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00001 #!/usr/bin/python
00002 
00003 #
00004 # Similar to static_transform_broadcaster, this node constantly publishes
00005 # static odometry information (Odometry msg and tf). This can be used 
00006 # with fake_localization to evaluate planning algorithms without running
00007 # an actual robot with odometry or localization
00008 #
00009 # Author: Armin Hornung
00010 # License: BSD
00011 
00012 import roslib
00013 roslib.load_manifest('fake_localization')
00014 import rospy
00015 
00016 import tf
00017 from nav_msgs.msg import Odometry
00018 from geometry_msgs.msg import Pose, Quaternion, Point
00019 
00020 def publishOdom():
00021     rospy.init_node('fake_odom')
00022     base_frame_id = rospy.get_param("~base_frame_id", "base_link")
00023     odom_frame_id = rospy.get_param("~odom_frame_id", "odom")
00024     publish_frequency = rospy.get_param("~publish_frequency", 10.0)
00025     pub = rospy.Publisher('odom', Odometry)
00026     tf_pub = tf.TransformBroadcaster()
00027 
00028     #TODO: static pose could be made configurable (cmd.line or parameters)
00029     quat = tf.transformations.quaternion_from_euler(0, 0, 0)
00030     
00031     odom = Odometry()
00032     odom.header.frame_id = odom_frame_id
00033     odom.pose.pose = Pose(Point(0,0,0),Quaternion(*quat))       
00034     
00035     rospy.loginfo("Publishing static odometry from \"%s\" to \"%s\"", odom_frame_id, base_frame_id)
00036     r = rospy.Rate(publish_frequency)
00037     while not rospy.is_shutdown():
00038         odom.header.stamp = rospy.Time.now()
00039         pub.publish(odom)
00040         tf_pub.sendTransform((0,0,0), quat,
00041                         odom.header.stamp, base_frame_id, odom_frame_id)
00042         r.sleep()
00043     
00044 
00045 if __name__ == '__main__':
00046     try:
00047         publishOdom()
00048     except rospy.ROSInterruptException: pass


fake_localization
Author(s): Ioan A. Sucan
autogenerated on Mon Oct 6 2014 02:48:29