fixed_tf2_broadcaster.py
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00001 #!/usr/bin/env python
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00033 
00034 import rospy
00035 import tf2_ros
00036 import geometry_msgs.msg
00037 
00038 if __name__ == '__main__':
00039     rospy.init_node('fixed_tf2_broadcaster')
00040     br = tf2_ros.TransformBroadcaster()
00041     t = geometry_msgs.msg.TransformStamped()
00042 
00043     t.header.frame_id = "turtle1"
00044     t.child_frame_id = "carrot1"
00045     t.transform.translation.x = 0.0
00046     t.transform.translation.y = 2.0
00047     t.transform.translation.z = 0.0
00048     t.transform.rotation.x = 0.0
00049     t.transform.rotation.y = 0.0
00050     t.transform.rotation.z = 0.0
00051     t.transform.rotation.w = 1.0
00052 
00053     rate = rospy.Rate(10.0)
00054     while not rospy.is_shutdown():
00055         t.header.stamp = rospy.Time.now()
00056         br.sendTransform(t)
00057         rate.sleep()
00058         


turtle_tf2
Author(s): Denis Štogl
autogenerated on Thu Aug 10 2017 02:47:28