# Revision history [back]

### 4 frame positioned relative to each other

Hi!

Recently, I have started to play in ROS and now I am trying to display 4 frames in RVIZ without success. The problem is that, the frames should be positioned relative to each other and me, with my ignorant brain cant realize the mistake.

static tf2_ros::TransformBroadcaster br;
for (int i = 1; i <= myRobot->getJointNumber(); i++) {
stringstream name, prevName;
name << "{" << i << "}";
prevName << "{" << (i-1) << "}";
geometry_msgs::TransformStamped transformStamped;

transformStamped.child_frame_id = name.str();

transformStamped.transform.translation.x = 0.0;
transformStamped.transform.translation.y = 0.0;
transformStamped.transform.translation.z = 0.0;
tf2::Quaternion q;
q.setRPY(0, 0, 0);
transformStamped.transform.rotation.x = q.x();
transformStamped.transform.rotation.y = q.y();
transformStamped.transform.rotation.z = q.z();
transformStamped.transform.rotation.w = q.w();

frames.push_back(transformStamped);
br.sendTransform(transformStamped);
}


Only one or two frames shows up, which are directly linked to the fixed frame.

And here is two image to see how it is shown: https://drive.google.com/file/d/0By6anwacYsC3b0ZYR0QwZXd1d0E/view?usp=sharing

### 4 frame positioned relative to each other

Hi!

Recently, I have started to play in ROS and now I am trying to display 4 frames in RVIZ without success. The problem is that, the frames should be positioned relative to each other and me, with my ignorant brain cant realize the mistake.

static tf2_ros::TransformBroadcaster br;
for (int i = 1; i <= myRobot->getJointNumber(); i++) {
stringstream name, prevName;
name << "{" << i << "}";
prevName << "{" << (i-1) << "}";
geometry_msgs::TransformStamped transformStamped;

transformStamped.child_frame_id = name.str();

transformStamped.transform.translation.x = 0.0;
transformStamped.transform.translation.y = 0.0;
transformStamped.transform.translation.z = 0.0;
tf2::Quaternion q;
q.setRPY(0, 0, 0);
transformStamped.transform.rotation.x = q.x();
transformStamped.transform.rotation.y = q.y();
transformStamped.transform.rotation.z = q.z();
transformStamped.transform.rotation.w = q.w();

frames.push_back(transformStamped);
br.sendTransform(transformStamped);
}


Only one or two frames shows up, which are directly linked to the fixed frame.

And here is two image to see how it is shown: https://drive.google.com/file/d/0By6anwacYsC3b0ZYR0QwZXd1d0E/view?usp=sharing