hi .
i want write a tf broadcaster for link_26 in my urdf .
i wrote wrist_tf_broadcaster.py (like [this page](http://wiki.ros.org/tf/Tutorials/Writing%20a%20tf%20broadcaster%20(Python)) in nodes/wrist_tf_broadcaster.py and run launch and rqt and add /link_26/pose/x in rqt . but i have nothing in rqt
#!/usr/bin/env python
import roslib
roslib.load_manifest('wrist')
import rospy
import tf
import turtlesim.msg
def handle_turtle_pose(msg, turtlename):
br = tf.TransformBroadcaster()
br.sendTransform((msg.x, msg.y, 0),
tf.transformations.quaternion_from_euler(0, 0, msg.theta),
rospy.Time.now(),
turtlename,
"base_link")
if __name__ == '__main__':
rospy.init_node('wrist_tf_broadcaster')
turtlename = rospy.get_param('~wrist')
rospy.Subscriber('/%s/pose' % turtlename,
turtlesim.msg.Pose,
handle_turtle_pose,
turtlename)
rospy.spin()
↧