/home/joel/ros_workspace/lar3/planning/trajectory_planner/src/tracking_frame_generator.cpp

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#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <std_msgs/Float64.h>
#include <math.h>
tf::TransformBroadcaster* p_broadcaster;

int main(int argc, char** argv)
{
        ros::init(argc, argv, "tf_generator_node");
        ros::NodeHandle n;
        tf::TransformBroadcaster broadcaster;
        p_broadcaster=& broadcaster;
        ros::Rate r(10);


        tf::Transform transform1(btMatrix3x3(1,0,0, 0,1,0, 0,0,1),
                                                        btVector3(0, 0, 0.10));
        double theta=0;
        int inc=0;
        while(n.ok())
        {
                theta=inc*(2*M_PI)/1000;
                        
                
                p_broadcaster->sendTransform(tf::StampedTransform(transform1, ros::Time::now(),"/vehicle_odometry", "/tracking_frame1")); 
                r.sleep();
                ros::spinOnce();

        }
}