28 #include <tf/transform_broadcaster.h>
29 #include <std_msgs/Float64.h>
39 int main(
int argc,
char** argv)
41 ros::init(argc, argv,
"tf_generator_node");
43 tf::TransformBroadcaster broadcaster;
51 theta=inc*(2*M_PI)/1000;
53 tf::Transform transform(tf::Matrix3x3(cos(theta),-sin(theta),0, sin(theta),cos(theta),0, 0,0,1),
54 tf::Vector3(2.5*cos(theta), 2.5*sin(theta), 0.0));
56 p_broadcaster->sendTransform(tf::StampedTransform(transform, ros::Time::now(),
"/world",
"/vehicle_odometry"));
int main(int argc, char **argv)
tf::TransformBroadcaster * p_broadcaster