tf_publisher.py
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00001 #!/usr/bin/python
00002 #################################################################
00003 ##\file
00004 #
00005 # \note
00006 # Copyright (c) 2010 \n
00007 # Fraunhofer Institute for Manufacturing Engineering
00008 # and Automation (IPA) \n\n
00009 #
00010 #################################################################
00011 #
00012 # \note
00013 # Project name: Care-O-bot Research
00014 # \note
00015 # ROS stack name: cob_environments
00016 # \note
00017 # ROS package name: cob_gazebo_worlds
00018 #
00019 # \author
00020 # Author: Nadia Hammoudeh Garcia, email:nadia.hammoudeh-garcia@ipa.fhg.de
00021 # \author
00022 # Supervised by: Nadia Hammoudeh Garcia, email:nadia.hammoudeh-garcia@ipa.fhg.de
00023 #
00024 # \date Date of creation: Nov 2012
00025 #
00026 # \brief
00027 # 
00028 #
00029 #################################################################
00030 #
00031 # Redistribution and use in source and binary forms, with or without
00032 # modification, are permitted provided that the following conditions are met:
00033 #
00034 # - Redistributions of source code must retain the above copyright
00035 # notice, this list of conditions and the following disclaimer. \n
00036 # - Redistributions in binary form must reproduce the above copyright
00037 # notice, this list of conditions and the following disclaimer in the
00038 # documentation and/or other materials provided with the distribution. \n
00039 # - Neither the name of the Fraunhofer Institute for Manufacturing
00040 # Engineering and Automation (IPA) nor the names of its
00041 # contributors may be used to endorse or promote products derived from
00042 # this software without specific prior written permission. \n
00043 #
00044 # This program is free software: you can redistribute it and/or modify
00045 # it under the terms of the GNU Lesser General Public License LGPL as
00046 # published by the Free Software Foundation, either version 3 of the
00047 # License, or (at your option) any later version.
00048 #
00049 # This program is distributed in the hope that it will be useful,
00050 # but WITHOUT ANY WARRANTY; without even the implied warranty of
00051 # MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
00052 # GNU Lesser General Public License LGPL for more details.
00053 #
00054 # You should have received a copy of the GNU Lesser General Public
00055 # License LGPL along with this program.
00056 # If not, see < http://www.gnu.org/licenses/>.
00057 #
00058 #################################################################  
00059 import roslib
00060 roslib.load_manifest('cob_gazebo_worlds')
00061 
00062 import rospy
00063 import tf
00064 import math
00065 
00066 if __name__ == '__main__':
00067     rospy.init_node('my_tf_broadcaster')
00068     br = tf.TransformBroadcaster()
00069     rate = rospy.Rate(10.0)
00070     while not rospy.is_shutdown():
00071         t = rospy.Time.now().to_sec()
00072         br.sendTransform((0,0,0.01),
00073                          (0.0, 0.0, 0.0, 1.0),
00074                          rospy.Time.now(),
00075                          "map",
00076                          "dummy_link")
00077         rate.sleep()


cob_gazebo_worlds
Author(s): Florian Weisshardt
autogenerated on Sun Oct 5 2014 22:59:49