ROS-Answers/Navigation/LaserTF

// AUTHOR : SHANKER KESHAVDAS , DFKI SAARBRUECKEN

#ifndef TAROT_RobotControl_TFLaserPublisher_CPP_
#define TAROT_RobotControl_TFLaserPublisher_CPP_

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>

#define LASERPOSITION_X	0.17
#define LASERPOSITION_Y	0.0
#define LASERPOSITION_Z	0.298

// Publishes a static transform from frame /base_link to /laser. This denotes the position of the laser with respect to the center of the robot on the 2D map.

int main(int argc, char **argv)
{
	ros::init(argc, argv, "Tarot_TFLaserPublisher");
	static tf::TransformBroadcaster br;
  	tf::Transform transform;
  	transform.setOrigin( tf::Vector3(LASERPOSITION_X,LASERPOSITION_Y,LASERPOSITION_Z) );
  	transform.setRotation( tf::Quaternion(0, 0, 0, 1) );
	ros::Rate r(10);
	while(ros::ok())
	{
		br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "base_link", "laser"));
		r.sleep();
	}
}

#endif