pub_transformations.cpp

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#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <std_msgs/Float64.h>
#include <math.h>

int main(int argc, char** argv){
        ros::init(argc, argv, "pub_transformations");
        ros::NodeHandle n;
        tf::TransformBroadcaster broadcaster;
        ros::Rate r(10);
        
    float alpha=(38.5)*(3.1415/180);// 38.5 is obtained by multiplying the tillt angle by -1


//Had to put then following alternative for FUERTE/GROOVY. V. Santos, 27-Mai-2013
#if ROS_VERSION_MINIMUM(1, 8, 0)   //At least FUERTE
        tf::Transform transform(tf::Matrix3x3(0,-1,0, cos(alpha),0,sin(alpha), -sin(alpha),0,cos(alpha)), tf::Vector3(0.236, -0.05, 0.68));
#else    //earlier releases
        tf::Transform transform(btMatrix3x3(0,-1,0, cos(alpha),0,sin(alpha), -sin(alpha),0,cos(alpha)), btVector3(0.236, -0.05, 0.68));
#endif

        ros::spinOnce();
        while(n.ok())
        {
          broadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(),"/vehicle_odometry", "/openni_camera")); 

          r.sleep();
          ros::spinOnce();
        }
}