scripts/arm_ros_conn.py

   1 #!/usr/bin/env python
   2 # -*- coding: iso-8859-15 -*-
   3
   4 import rospy
   5 import tf
   6 from nav_msgs.msg import Odometry
   7
   8 class ARMRosConn():
   9         def __init__(self):
  10                 rospy.init_node('arm')
  11
  12                 rospy.Subscriber("odom", Odometry, self.odom_received)
  13                 self.tf_broadcaster = tf.broadcaster.TransformBroadcaster()
  14
  15                 rate = rospy.Rate(10)
  16                 while not rospy.is_shutdown():
  17                         rate.sleep()
  18
  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, rospy.Time.now(), "base_link", "odom")
  23
  24 if __name__ == '__main__':
  25         ARMRosConn()