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1 | initial version |
Hi, you can use the following piece of code to publish tf between two frames. For example tf between "base_link" to "scans"
import tf
def handle_transform(parent, child, tr):
br.sendTransform((tr[0], tr[1], 0), tf.transformations.quaternion_from_euler(0, 0, tr[2]), rospy.Time.now(), child,parent)
if __name__ == "__main__":
rospy.init_node('main', anonymous=True) #make node
rate = rospy.Rate(5) # 5hz
br = tf.TransformBroadcaster()
while not rospy.is_shutdown():
handle_transform("base_link", "scans", [0,0,0])
rate.sleep()
2 | No.2 Revision |
Hi, you can use the following piece of code to publish tf between two frames. For example tf between "base_link" to "scans"
import tf
def handle_transform(parent, child, tr):
br.sendTransform((tr[0], tr[1], 0), tf.transformations.quaternion_from_euler(0, 0, tr[2]), rospy.Time.now(), child,parent)
if __name__ == "__main__":
rospy.init_node('main', anonymous=True) #make node
rate = rospy.Rate(5) # 5hz
br = tf.TransformBroadcaster()
while not rospy.is_shutdown():
handle_transform("base_link", "scans", [0,0,0])
rate.sleep()
3 | No.3 Revision |
Hi, you can use the following piece of code to publish tf between two frames. For example tf between "base_link" to "scans""scans" in 2D -> [x,y,theta]
import tf
def handle_transform(parent, child, tr):
br.sendTransform((tr[0], tr[1], 0), tf.transformations.quaternion_from_euler(0, 0, tr[2]), rospy.Time.now(), child,parent)
if __name__ == "__main__":
rospy.init_node('main', anonymous=True) #make node
rate = rospy.Rate(5) # 5hz
br = tf.TransformBroadcaster()
while not rospy.is_shutdown():
handle_transform("base_link", "scans", [0,0,0])
rate.sleep()