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

/** 
 * @brief Generates a frame higher than the car frame, to publish the point cloud to the mtt
 * @param int
 * @param char**
 * @return int
 */

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();

	}
}