turtle_tf2_broadcaster.py
Go to the documentation of this file.
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()


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