publish_pose.py
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00001 #!/usr/bin/env python
00002 
00003 import rospy
00004 import tf
00005 from geometry_msgs.msg import PoseStamped
00006 
00007 if __name__ == '__main__':
00008     rospy.init_node('publish_pose', anonymous=True)
00009     worldFrame = rospy.get_param("~worldFrame", "/world")
00010     name = rospy.get_param("~name")
00011     r = rospy.get_param("~rate")
00012     x = rospy.get_param("~x")
00013     y = rospy.get_param("~y")
00014     z = rospy.get_param("~z")
00015 
00016     rate = rospy.Rate(r)
00017 
00018     msg = PoseStamped()
00019     msg.header.seq = 0
00020     msg.header.stamp = rospy.Time.now()
00021     msg.header.frame_id = worldFrame
00022     msg.pose.position.x = x
00023     msg.pose.position.y = y
00024     msg.pose.position.z = z
00025     quaternion = tf.transformations.quaternion_from_euler(0, 0, 0)
00026     msg.pose.orientation.x = quaternion[0]
00027     msg.pose.orientation.y = quaternion[1]
00028     msg.pose.orientation.z = quaternion[2]
00029     msg.pose.orientation.w = quaternion[3]
00030 
00031     pub = rospy.Publisher(name, PoseStamped, queue_size=1)
00032 
00033     while not rospy.is_shutdown():
00034         msg.header.seq += 1
00035         msg.header.stamp = rospy.Time.now()
00036         pub.publish(msg)
00037         rate.sleep()


crazyflie_demo
Author(s): Wolfgang Hoenig
autogenerated on Wed Jun 12 2019 19:20:46