I want to publish Transform between camera and base_link. But i am not able to please help and I have seen the predefined packages but since I use ROS kinetic I cannot use those.
I have done this till now
import rospy
from nav_msgs.msg import Odometry
import tf
#import turtlesim.msg
def func1(msg, name):
br = tf.TransformBroadcaster()
br.sendTransform((0,0,0),
tf.transformations.quaternion_from_euler(0, 0, 0),
rospy.Time.now(),name,
"base_link")
if __name__ == '__main__':
rospy.init_node('optical_cam_transform_publisher')
cam_frame="optical_came_frame"
#odom=Odometry()
rospy.Subscriber('/odom',
Odometry,
func1,cam_frame
)
rospy.spin()
↧