Diff: examples/TimeTF.cpp

Revision:

0:cb1dffdc7d05

diff -r 000000000000 -r cb1dffdc7d05 examples/TimeTF.cpp
--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/examples/TimeTF.cpp	Sun Feb 15 10:54:04 2015 +0000
@@ -0,0 +1,42 @@
+//#define COMPILE_TIMETF_CODE_ROSSERIAL
+#ifdef COMPILE_TIMETF_CODE_ROSSERIAL
+
+/*
+ * rosserial Time and TF Example
+ * Publishes a transform at current time
+ */
+
+#include "mbed.h"
+#include <ros.h>
+#include <ros/time.h>
+#include <tf/transform_broadcaster.h>
+
+ros::NodeHandle  nh;
+
+geometry_msgs::TransformStamped t;
+tf::TransformBroadcaster broadcaster;
+
+char base_link[] = "/base_link";
+char odom[] = "/odom";
+
+int main() {
+    nh.initNode();
+    broadcaster.init(nh);
+
+
+    while (1) {
+        t.header.frame_id = odom;
+        t.child_frame_id = base_link;
+        t.transform.translation.x = 1.0;
+        t.transform.rotation.x = 0.0;
+        t.transform.rotation.y = 0.0;
+        t.transform.rotation.z = 0.0;
+        t.transform.rotation.w = 1.0;
+        t.header.stamp = nh.now();
+        broadcaster.sendTransform(t);
+        nh.spinOnce();
+        wait_ms(10);
+    }
+}
+
+#endif
\ No newline at end of file