empty_listener.cpp
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1 /*
2  * Copyright (c) 2009, Willow Garage, Inc.
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29 #include <ros/ros.h>
30 #include <tf/transform_listener.h>
31 
32 
33 int main(int argc, char** argv)
34 {
35  ros::init(argc, argv, "my_tf_listener");
36 
37  ros::NodeHandle node;
38 
39  tf::TransformListener listener;
40 
41  ros::Rate rate(10.0);
42  while (node.ok()){
43  tf::StampedTransform transform;
44  try
45  {
46  listener.lookupTransform("odom_combined", "base_link", ros::Time(0), transform);
47  }
48  catch (tf::TransformException ex)
49  {
50  ROS_ERROR("%s",ex.what());
51  }
52 
53  rate.sleep();
54  }
55  return 0;
56 };
int main(int argc, char **argv)
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
void lookupTransform(const std::string &target_frame, const std::string &source_frame, const ros::Time &time, StampedTransform &transform) const
Get the transform between two frames by frame ID.
Definition: tf.cpp:238
bool sleep()
This class inherits from Transformer and automatically subscribes to ROS transform messages...
bool ok() const
#define ROS_ERROR(...)
The Stamped Transform datatype used by tf.


tf
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Sun Jul 8 2018 02:12:41