I updated the tutorial with the corrected code. Thanks for catching this, and even better, for providing the code.
Hope all is well,
Eitan
http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/TF
In the above page the "tf_braodcaster.cpp" file has an error as the sendTransform() function has unmatched arguments.
here is the corrected code:
#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
int main(int argc, char** argv){
ros::init(argc, argv, "robot_tf_publisher");
ros::NodeHandle n;
ros::Rate r(100);
//corrected code
tf::Transform transform;
transform.setOrigin(tf::Vector3(0.1, 0.0, 0.2));
transform.setRotation(tf::Quaternion(0, 0, 0));
tf::TransformBroadcaster broadcaster;
while(n.ok()){
/*broadcaster.sendTransform(
btTransform(btQuaternion(0, 0, 0), btVector3(0.1, 0.0, 0.2)),
ros::Time::now(),
"base_laser", "base_link");
*/
broadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "base_laser", "base_link"));
r.sleep();
}
}
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