Quadrotor

/* 

 * rosserial Time and TF Example

 * Publishes a transform at current time

 */

#include <ros.h>

#include <ros/time.h>

#include <tf/transform_broadcaster.h>

ros::NodeHandle  nh;

geometry_msgs::TransformStamped t;

tf::TransformBroadcaster broadcaster;

char base_link[] = "/base_link";

char odom[] = "/odom";

void setup()

{

  nh.initNode();

  broadcaster.init(nh);

}

void loop()

{  

  t.header.frame_id = odom;

  t.child_frame_id = base_link;

  t.transform.translation.x = 1.0; 

  t.transform.rotation.x = 0.0;

  t.transform.rotation.y = 0.0; 

  t.transform.rotation.z = 0.0; 

  t.transform.rotation.w = 1.0;  

  t.header.stamp = nh.now();

  broadcaster.sendTransform(t);

  nh.spinOnce();

  delay(10);

}