frame_broadcaster.cpp

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#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <geometry_msgs/TransformStamped.h>

int main(int argc, char** argv)
{
    ros::init(argc, argv, "frame_broadcaster");
    ros::NodeHandle node;

    tf::TransformBroadcaster br;
    tf::Transform transform;
    
    ros::Rate rate(10.0);
    while (node.ok())
    {
        transform.setOrigin(tf::Vector3(0,0.0,0.0));
        tf::Quaternion q;
        q.setRPY(0, 0, 0);
        transform.setRotation(q);
        
        br.sendTransform(tf::StampedTransform(transform, ros::Time::now(),"world","laser_1"));
        
        transform.setOrigin(tf::Vector3(0,0.30,0.0));
        
        br.sendTransform(tf::StampedTransform(transform, ros::Time::now(),"world","laser_2"));
        
        rate.sleep();
    }
 
    return 0;
}