28 #include <std_msgs/String.h>
29 #include <tf/transform_broadcaster.h>
41 #define PI 3.141592653589793238462643383279502884197
47 int main(
int argc,
char** argv)
49 ros::init(argc, argv,
"control_test");
51 tf::TransformBroadcaster br_tf;
52 tf::Transform tf_right_feet;
53 tf::Transform tf_left_feet;
54 ros::Rate loop_rate(1000);
56 tf_left_feet.setOrigin( tf::Vector3(0.0, 0.07, 0.0) );
57 tf_left_feet.setRotation( tf::createQuaternionFromRPY(0.0, 0.0, 0.0) );
58 tf_right_feet.setOrigin( tf::Vector3(0.0, -0.07, 0.0) );
59 tf_right_feet.setRotation( tf::createQuaternionFromRPY(0.0, 0.0, 0.0) );
71 br_tf.sendTransform(tf::StampedTransform(tf_left_feet, ros::Time::now(),
"/world",
"/tf_left_feet"));
73 br_tf.sendTransform(tf::StampedTransform(tf_right_feet, ros::Time::now(),
"/world",
"/tf_right_feet"));
int main(int argc, char **argv)