[ros-users] Navigaation/tutorials/TF - error in Broadcasting.cpp
Eitan Marder-Eppstein
eitan at willowgarage.com
Thu Mar 18 17:25:58 UTC 2010
I updated the tutorial with the corrected code. Thanks for catching this,
and even better, for providing the code.
Hope all is well,
Eitan
On Thu, Mar 18, 2010 at 7:51 AM, shashank sharma
<sonicboomshanky at gmail.com>wrote:
> 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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