tf_broadcaster.cpp
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2008, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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00034 *
00035 * Author: Eitan Marder-Eppstein
00036 *********************************************************************/
00037 #include <ros/ros.h>
00038 #include <tf/transform_broadcaster.h>
00039 
00040 int main(int argc, char** argv){
00041   ros::init(argc, argv, "robot_tf_publisher");
00042   ros::NodeHandle n;
00043 
00044   ros::Rate r(100);
00045 
00046   tf::TransformBroadcaster broadcaster;
00047 
00048   while(n.ok()){
00049     broadcaster.sendTransform(
00050                               tf::StampedTransform(tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.1, 0.0, 0.2)), 
00051                                                    ros::Time::now(), 
00052                                                    "base_link", 
00053                                                    "base_laser"));
00054     r.sleep();
00055   }
00056 }


robot_setup_tf_tutorial
Author(s): Eitan Marder-Eppstein
autogenerated on Sat Jun 8 2019 21:01:09