2 # -*- coding: iso-8859-15 -*-
6 from nav_msgs.msg import Odometry
10 rospy.init_node('arm')
12 rospy.Subscriber("odom", Odometry, self.odom_received)
13 self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
16 while not rospy.is_shutdown():
19 def odom_received(self, msg):
20 pos = (msg.pose.pose.position.x, msg.pose.pose.position.y, msg.pose.pose.position.z)
21 orientation = (msg.pose.pose.orientation.x, msg.pose.pose.orientation.y, msg.pose.pose.orientation.z, msg.pose.pose.orientation.w)
22 self.tf_broadcaster.sendTransform(pos, orientation, msg.header.stamp, "base_link", "odom")
24 if __name__ == '__main__':