From 14c43a5567037d03198f581c7cb5362125d719d4 Mon Sep 17 00:00:00 2001
From: Your Name <you@example.com>
Date: Tue, 14 Jan 2025 09:06:55 +0100
Subject: [PATCH] update

---
 CMakeLists.txt                 |  7 +++++++
 nodes/odom_publisher_python.py | 29 +++++++++++++++++++++++++++++
 2 files changed, 36 insertions(+)
 create mode 100644 nodes/odom_publisher_python.py

diff --git a/CMakeLists.txt b/CMakeLists.txt
index faa0473..84698ca 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -47,6 +47,13 @@ include_directories(
 add_executable(odom_publisher nodes/odom_publisher.cpp)
 target_link_libraries(odom_publisher ${catkin_LIBRARIES})
 
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+catkin_install_python(PROGRAMS
+  nodes/odom_publisher_python.py
+  DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
 ################################################################################
 # Install
 ################################################################################
diff --git a/nodes/odom_publisher_python.py b/nodes/odom_publisher_python.py
new file mode 100644
index 0000000..0438f6c
--- /dev/null
+++ b/nodes/odom_publisher_python.py
@@ -0,0 +1,29 @@
+#!/usr/bin/env python
+
+import rospy
+from nav_msgs.msg import Odometry
+import tf
+
+def odom_callback(msg):
+    # Extract position and orientation from the odometry message
+    position = msg.pose.pose.position
+    orientation = msg.pose.pose.orientation
+    
+    # Broadcast the transformation
+    br = tf.TransformBroadcaster()
+    br.sendTransform(
+        (position.x, position.y, position.z),  # Translation
+        (orientation.x, orientation.y, orientation.z, orientation.w),  # Rotation (quaternion)
+        rospy.Time.now(),  # Timestamp
+        msg.child_frame_id if msg.child_frame_id else "base_link",  # Child frame ID
+        msg.header.frame_id if msg.header.frame_id else "odom"  # Parent frame ID
+    )
+
+def main():
+    rospy.init_node('odom_tf_publisher', anonymous=True)
+    rospy.Subscriber('/odom', Odometry, odom_callback)
+    rospy.loginfo("TF Publisher for /odom topic is running...")
+    rospy.spin()
+
+if __name__ == '__main__':
+    main()