fixed_tf2_broadcaster.py
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00001 #!/usr/bin/env python
00002 # Software License Agreement (BSD License)
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00004 # Copyright (c) 2008, Willow Garage, Inc.
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00033 
00034 import roslib
00035 roslib.load_manifest('turtle_tf2')
00036 
00037 import rospy
00038 import tf2_ros
00039 import tf2_msgs.msg
00040 import geometry_msgs.msg
00041 
00042 
00043 class FixedTFBroadcaster:
00044 
00045     def __init__(self):
00046         self.pub_tf = rospy.Publisher("/tf", tf2_msgs.msg.TFMessage, queue_size=1)
00047 
00048         while not rospy.is_shutdown():
00049             # Run this loop at about 10Hz
00050             rospy.sleep(0.1)
00051 
00052             t = geometry_msgs.msg.TransformStamped()
00053             t.header.frame_id = "turtle1"
00054             t.header.stamp = rospy.Time.now()
00055             t.child_frame_id = "carrot1"
00056             t.transform.translation.x = 0.0
00057             t.transform.translation.y = 2.0
00058             t.transform.translation.z = 0.0
00059 
00060             t.transform.rotation.x = 0.0
00061             t.transform.rotation.y = 0.0
00062             t.transform.rotation.z = 0.0
00063             t.transform.rotation.w = 1.0
00064 
00065             tfm = tf2_msgs.msg.TFMessage([t])
00066             self.pub_tf.publish(tfm)
00067 
00068 if __name__ == '__main__':
00069     rospy.init_node('my_tf2_broadcaster')
00070     tfb = FixedTFBroadcaster()
00071 
00072     rospy.spin()


turtle_tf2
Author(s): Denis Štogl
autogenerated on Thu Jun 6 2019 17:37:27