dynamic_tf_broadcaster.py
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00001 #!/usr/bin/env python
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00033 
00034 import roslib
00035 roslib.load_manifest('turtle_tf')
00036 
00037 import rospy
00038 import tf
00039 import math
00040 
00041 if __name__ == '__ STATIC main__':
00042     rospy.init_node('my_tf_broadcaster')
00043     br = tf.TransformBroadcaster()
00044     rate = rospy.Rate(10.0)
00045     while not rospy.is_shutdown():
00046         br.sendTransform((0.0, 2.0, 0.0),
00047                          (0.0, 0.0, 0.0, 1.0),
00048                          rospy.Time.now(),
00049                          "carrot1",
00050                          "turtle1")
00051         rate.sleep()
00052 
00053 if __name__ == '__main__':
00054     rospy.init_node('my_tf_broadcaster')
00055     br = tf.TransformBroadcaster()
00056     rate = rospy.Rate(10.0)
00057     while not rospy.is_shutdown():
00058         t = rospy.Time.now().to_sec() * math.pi
00059         br.sendTransform((10 * math.sin(t), 10 * math.cos(t), 0.0),
00060                          (0.0, 0.0, 0.0, 1.0),
00061                          rospy.Time.now(),
00062                          "carrot1",
00063                          "turtle1")
00064         rate.sleep()
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turtle_tf
Author(s): James Bowman, Isaac Saito
autogenerated on Wed Aug 14 2013 10:15:33