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00007 #include <ros/ros.h>
00008 #include <tf/transform_broadcaster.h>
00009 #include <std_msgs/Float64.h>
00010 #include <math.h>
00011
00017 int main(int argc, char** argv){
00018 ros::init(argc, argv, "pub_transformations");
00019 ros::NodeHandle n;
00020 tf::TransformBroadcaster broadcaster;
00021 ros::Rate r(10);
00022
00023 float alpha=(38.5)*(M_PI/180);
00024
00025 tf::Transform transform(btMatrix3x3(0,-1,0, cos(alpha),0,sin(alpha), -sin(alpha),0,cos(alpha)),
00026 btVector3(0.236, -0.05, 0.68));
00027
00028
00029 ros::spinOnce();
00030 while(n.ok())
00031 {
00032 broadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(),"/vehicle_odometry", "/openni_camera"));
00033
00034 r.sleep();
00035 ros::spinOnce();
00036 }
00037 }