root / quad2 / arduino / src / ros_lib / examples / TimeTF / TimeTF.pde @ c1426757
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1 | c1426757 | Tom Mullins | /* |
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2 | * rosserial Time and TF Example |
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3 | * Publishes a transform at current time |
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4 | */ |
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5 | |||
6 | #include <ros.h> |
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7 | #include <ros/time.h> |
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8 | #include <tf/transform_broadcaster.h> |
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9 | |||
10 | ros::NodeHandle nh; |
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11 | |||
12 | geometry_msgs::TransformStamped t; |
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13 | tf::TransformBroadcaster broadcaster; |
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14 | |||
15 | char base_link[] = "/base_link"; |
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16 | char odom[] = "/odom"; |
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17 | |||
18 | void setup() |
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19 | { |
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20 | nh.initNode(); |
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21 | broadcaster.init(nh); |
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22 | } |
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23 | |||
24 | void loop() |
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25 | { |
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26 | t.header.frame_id = odom; |
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27 | t.child_frame_id = base_link; |
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28 | t.transform.translation.x = 1.0; |
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29 | t.transform.rotation.x = 0.0; |
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30 | t.transform.rotation.y = 0.0; |
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31 | t.transform.rotation.z = 0.0; |
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32 | t.transform.rotation.w = 1.0; |
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33 | t.header.stamp = nh.now(); |
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34 | broadcaster.sendTransform(t); |
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35 | nh.spinOnce(); |
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36 | delay(10); |
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37 | } |