29 #include <tf/transform_broadcaster.h>
30 #include <geometry_msgs/TransformStamped.h>
32 int main(
int argc,
char** argv)
34 ros::init(argc, argv,
"frame_broadcaster");
37 tf::TransformBroadcaster br;
38 tf::Transform transform;
43 transform.setOrigin(tf::Vector3(0,0.0,0.0));
46 transform.setRotation(q);
48 br.sendTransform(tf::StampedTransform(transform, ros::Time::now(),
"world",
"laser_1"));
50 transform.setOrigin(tf::Vector3(0,0.30,0.0));
52 br.sendTransform(tf::StampedTransform(transform, ros::Time::now(),
"world",
"laser_2"));
int main(int argc, char **argv)