turtle_tf_broadcaster.cpp

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#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <turtlesim/Pose.h>
 
std::string turtle_name;
 
void poseCallback(const turtlesim::PoseConstPtr& msg){
  static tf::TransformBroadcaster br;
  tf::Transform transform;
  transform.setOrigin( tf::Vector3(msg->x, msg->y, 0.0) );
  tf::Quaternion q;
  q.setRPY(0, 0, msg->theta);
  transform.setRotation(q);
  br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "world", turtle_name));
}
 
int main(int argc, char** argv){
  ros::init(argc, argv, "my_tf_broadcaster");
  if (argc != 2){ROS_ERROR("need turtle name as argument"); return -1;};
  turtle_name = argv[1];
 
  ros::NodeHandle node;
  ros::Subscriber sub = node.subscribe(turtle_name+"/pose", 10, &poseCallback);
 
  ros::spin();
  return 0;
}