dynamic_tf2_broadcaster.py
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1 #!/usr/bin/env python
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33 
34 import rospy
35 import tf2_ros
36 import geometry_msgs.msg
37 import math
38 
39 if __name__ == '__main__':
40  rospy.init_node('dynamic_tf2_broadcaster')
42  t = geometry_msgs.msg.TransformStamped()
43 
44  t.header.frame_id = "turtle1"
45  t.child_frame_id = "carrot1"
46 
47  rate = rospy.Rate(10.0)
48  while not rospy.is_shutdown():
49  x = rospy.Time.now().to_sec() * math.pi
50 
51  t.header.stamp = rospy.Time.now()
52  t.transform.translation.x = 10 * math.sin(x)
53  t.transform.translation.y = 10 * math.cos(x)
54  t.transform.translation.z = 0.0
55  t.transform.rotation.x = 0.0
56  t.transform.rotation.y = 0.0
57  t.transform.rotation.z = 0.0
58  t.transform.rotation.w = 1.0
59 
60  br.sendTransform(t)
61  rate.sleep()


turtle_tf2
Author(s): Denis Štogl
autogenerated on Wed Jun 5 2019 20:50:43