/usr/lib/python2.7/dist-packages/tf/broadcaster.py is in python-tf 1.11.8-4.
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import rospy
import tf
import tf.msg
import geometry_msgs.msg
import math
class TransformBroadcaster:
"""
:class:`TransformBroadcaster` is a convenient way to send transformation updates on the ``"/tf"`` message topic.
"""
def __init__(self, queue_size=100):
self.pub_tf = rospy.Publisher("/tf", tf.msg.tfMessage,
queue_size=queue_size)
def sendTransform(self, translation, rotation, time, child, parent):
"""
:param translation: the translation of the transformtion as a tuple (x, y, z)
:param rotation: the rotation of the transformation as a tuple (x, y, z, w)
:param time: the time of the transformation, as a rospy.Time()
:param child: child frame in tf, string
:param parent: parent frame in tf, string
Broadcast the transformation from tf frame child to parent on ROS topic ``"/tf"``.
"""
t = geometry_msgs.msg.TransformStamped()
t.header.frame_id = parent
t.header.stamp = time
t.child_frame_id = child
t.transform.translation.x = translation[0]
t.transform.translation.y = translation[1]
t.transform.translation.z = translation[2]
t.transform.rotation.x = rotation[0]
t.transform.rotation.y = rotation[1]
t.transform.rotation.z = rotation[2]
t.transform.rotation.w = rotation[3]
self.sendTransformMessage(t)
def sendTransformMessage(self, transform):
"""
:param transform: geometry_msgs.msg.TransformStamped
Broadcast the transformation from tf frame child to parent on ROS topic ``"/tf"``.
"""
tfm = tf.msg.tfMessage([transform])
self.pub_tf.publish(tfm)
if __name__ == '__main__':
rospy.init_node('tf_turtle')
tfb = TurtleTFBroadcaster(rospy.get_param('~turtle'))
rospy.spin()
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