[tf_add_frame] add a new frame #tf #ros

tf_add_frame.py

#!/usr/bin/env python  
import roslib
roslib.load_manifest('learning_tf')

import rospy
import tf

if __name__ == '__main__':
  rospy.init_node('my_tf_broadcaster')
  br = tf.TransformBroadcaster()
  rate = rospy.Rate(10.0)
  while not rospy.is_shutdown():
    t = rospy.Time.now().to_sec() * math.pi
    br.sendTransform((2.0 * math.sin(t), 2.0 * math.cos(t), 0.0),
                     (0.0, 0.0, 0.0, 1.0),
                     rospy.Time.now(),
                     "carrot1",
                     "turtle1")
    rate.sleep()