00001 #!/usr/bin/env python 00002 # Software License Agreement (BSD License) 00003 # 00004 # Copyright (c) 2008, Willow Garage, Inc. 00005 # All rights reserved. 00006 # 00007 # Redistribution and use in source and binary forms, with or without 00008 # modification, are permitted provided that the following conditions 00009 # are met: 00010 # 00011 # * Redistributions of source code must retain the above copyright 00012 # notice, this list of conditions and the following disclaimer. 00013 # * Redistributions in binary form must reproduce the above 00014 # copyright notice, this list of conditions and the following 00015 # disclaimer in the documentation and/or other materials provided 00016 # with the distribution. 00017 # * Neither the name of the Willow Garage nor the names of its 00018 # contributors may be used to endorse or promote products derived 00019 # from this software without specific prior written permission. 00020 # 00021 # THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 # "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 # LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 # FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 # COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 # INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 # BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 # LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 # CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 # LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 # ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 # POSSIBILITY OF SUCH DAMAGE. 00033 #!/usr/bin/env python 00034 00035 import rospy 00036 00037 # Because of transformations 00038 import tf 00039 00040 import tf2_ros 00041 import geometry_msgs.msg 00042 import turtlesim.msg 00043 00044 00045 def handle_turtle_pose(msg, turtlename): 00046 br = tf2_ros.TransformBroadcaster() 00047 t = geometry_msgs.msg.TransformStamped() 00048 00049 t.header.stamp = rospy.Time.now() 00050 t.header.frame_id = "world" 00051 t.child_frame_id = turtlename 00052 t.transform.translation.x = msg.x 00053 t.transform.translation.y = msg.y 00054 t.transform.translation.z = 0.0 00055 q = tf.transformations.quaternion_from_euler(0, 0, msg.theta) 00056 t.transform.rotation.x = q[0] 00057 t.transform.rotation.y = q[1] 00058 t.transform.rotation.z = q[2] 00059 t.transform.rotation.w = q[3] 00060 00061 br.sendTransform(t) 00062 00063 if __name__ == '__main__': 00064 rospy.init_node('turtle_tf2_broadcaster') 00065 turtlename = rospy.get_param('~turtle') 00066 rospy.Subscriber('/%s/pose' % turtlename, 00067 turtlesim.msg.Pose, 00068 handle_turtle_pose, 00069 turtlename) 00070 rospy.spin()