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small script to add a frame to IMU #4

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small script to add a frame to IMU #4

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52f7305
add a script that add a frame on imu
Jun 4, 2014
d19ba60
Merge branch 'master' of https://github.com/Ellon/rtslamros
Jun 4, 2014
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23 changes: 23 additions & 0 deletions src/add_frame_on_imu.py
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Original file line number Diff line number Diff line change
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#!/usr/bin/env python

import rospy
import tf
import copy

from sensor_msgs.msg import *

def imu_callback(data):
global pubImu
data.header.frame = "uav0/body"
pubImu.publish(data)

if __name__ == '__main__':
rospy.init_node('add_frame_on_imu', anonymous=False)
ns = rospy.get_namespace ()
print "NAMESPACE: ", ns

rospy.Subscriber("imu", Imu, imu_callback)
pubImu = rospy.Publisher("imu_frame", Imu)

while not rospy.is_shutdown ():
rospy.sleep(0.1)