/* 
 * 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);
}