TF frame error

edit

hi, all,

I am trying to set up a simple TF tree to convert incoming odometer data. however, the listener doesn't seem picking up anything at all. the tf_monitor shows no frame either.

~$ rosrun tf tf_monitor
RESULTS: for all Frames

Frames:

All Broadcasters:

how do I make it work? here's the broadcaster code.

void OdoCallback(const nav_msgs::Odometry::ConstPtr& odom_in)
{
    ros::Time current_time = ros::Time::now();
    tf::TransformBroadcaster odom_broadcaster;
    tf::Stamped<tf::Pose> transform;
    transform.setOrigin( tf::Vector3(odom_in->pose.pose.position.x, odom_in->pose.pose.position.y, 0.0) );
    tf::Quaternion q;
    q.setRPY(odom_in->pose.pose.orientation.z, 0, 0);
    transform.setRotation(q);

    odom_broadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "/odom_frame", "/base_link"));
}
int main(int argc, char** argv)
{

  ros::init(argc, argv, "sensor_convert_node");
  ros::NodeHandle n;

  ros::Subscriber odo_sub = n.subscribe("odom", 100, OdoCallback);

  printf("setting up laser filter\r\n");
  ros::Rate loop_rate(100);

  while (ros::ok())
  {
    ros::Time start = ros::Time::now();
    ros::spinOnce();
    loop_rate.sleep();
  }

  return 0;
}

and here's the listener code

int main(int argc, char** argv){
  ros::init(argc, argv, "robot_tf_listener");
  ros::NodeHandle n;
  tf::TransformListener listener;
  ros::Rate r(50);
  while(n.ok()){
      tf::Stamped<tf::Pose> ident (tf::Transform(tf::createIdentityQuaternion(),
              tf::Vector3(0,0,0)), ros::Time(0), "/odom_frame");
      tf::Stamped<tf::Pose> odom_pose;
      try{
            listener.transformPose("/odom_frame",ident, odom_pose);
      }
      catch (tf::TransformException &ex) {
          ROS_ERROR("%s",ex.what());
          ros::Duration(1.0).sleep();
      }
      ros::spinOnce();
      r.sleep();
  }
  return 0;
}

your help is appreciated.

Ray