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

/** 
 * @brief 
 * 
 * @return 
 */

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);

	double theta=0;
	int inc=0;
	while(n.ok())
	{
		theta=inc*(2*M_PI)/1000;
			
		tf::Transform transform(btMatrix3x3(cos(theta),-sin(theta),0, sin(theta),cos(theta),0, 0,0,1),
									btVector3(2.5*cos(theta), 2.5*sin(theta), 0.0));
		
		p_broadcaster->sendTransform(tf::StampedTransform(transform, ros::Time::now(), "/world", "/vehicle_odometry")); 
		r.sleep();
		ros::spinOnce();

	}
}