38 lines
710 B
Plaintext
38 lines
710 B
Plaintext
/*
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* rosserial Time and TF Example
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* Publishes a transform at current time
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*/
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#include <ros.h>
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#include <ros/time.h>
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#include <tf/transform_broadcaster.h>
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ros::NodeHandle nh;
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geometry_msgs::TransformStamped t;
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tf::TransformBroadcaster broadcaster;
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char base_link[] = "/base_link";
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char odom[] = "/odom";
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void setup()
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{
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nh.initNode();
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broadcaster.init(nh);
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}
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void loop()
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{
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t.header.frame_id = odom;
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t.child_frame_id = base_link;
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t.transform.translation.x = 1.0;
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t.transform.rotation.x = 0.0;
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t.transform.rotation.y = 0.0;
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t.transform.rotation.z = 0.0;
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t.transform.rotation.w = 1.0;
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t.header.stamp = nh.now();
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broadcaster.sendTransform(t);
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nh.spinOnce();
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delay(10);
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}
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