- odom_trans = TransformStamped()
- odom_trans.header.stamp = current_time
- odom_trans.header.frame_id = "odom"
- odom_trans.child_frame_id = "base_link"
- odom_trans.transform.translation.x = self.x
- odom_trans.transform.translation.y = self.y
- odom_trans.transform.translation.z = 0.0
- odom_trans.transform.rotation = self.th
-
- ## send the transform
- #self.odom_broadcaster.sendTransform(odom_trans);
+ self.odom_broadcaster.sendTransform((0.0, 0.0, 0.0), odom_quat, current_time, "odom", "base_link");