I updated the tutorial with the corrected code. Thanks for catching this, and even better, for providing the code.<br><br>Hope all is well,<br><br>Eitan<br><br><div class="gmail_quote">On Thu, Mar 18, 2010 at 7:51 AM, shashank sharma <span dir="ltr"><<a href="mailto:sonicboomshanky@gmail.com">sonicboomshanky@gmail.com</a>></span> wrote:<br>
<blockquote class="gmail_quote" style="border-left: 1px solid rgb(204, 204, 204); margin: 0pt 0pt 0pt 0.8ex; padding-left: 1ex;"><a href="http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/TF" target="_blank">http://www.ros.org/wiki/navigation/Tutorials/RobotSetup/TF</a><br>
<br>In the above page the "tf_braodcaster.cpp" file has an error as the sendTransform() function has unmatched arguments.<br>
<br>here is the corrected code:<br><br>#include <ros/ros.h><br>#include <tf/transform_broadcaster.h><br><br>int main(int argc, char** argv){<br> ros::init(argc, argv, "robot_tf_publisher");<br> ros::NodeHandle n;<br>
<br> ros::Rate r(100);<br> <br> //corrected code <br> tf::Transform transform;<br> transform.setOrigin(tf::Vector3(0.1, 0.0, 0.2));<br> transform.setRotation(tf::Quaternion(0, 0, 0));<br> <br><br><br> tf::TransformBroadcaster broadcaster;<br>
<br> while(n.ok()){<br> /*broadcaster.sendTransform(<br> btTransform(btQuaternion(0, 0, 0), btVector3(0.1, 0.0, 0.2)), <br> ros::Time::now(), <br> "base_laser", "base_link");<br>
*/<br>broadcaster.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "base_laser", "base_link")); <br> r.sleep();<br> }<br>}<br><br>
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<br></blockquote></div><br>