update

nodes/odom_publisher_linus.py

@@ -1,38 +1,38 @@
 #!/usr/bin/env python
 
 import rospy
-from tf.transform_broadcaster import TransformBroadcaster
+import tf2_ros
 from nav_msgs.msg import Odometry
 from geometry_msgs.msg import TransformStamped
 
 def odom_callback(msg):
-    # Create TransformStamped message
+    # Create a TransformStamped message
     odom_trans = TransformStamped()
     odom_trans.header.stamp = msg.header.stamp
     odom_trans.header.frame_id = msg.header.frame_id
     odom_trans.child_frame_id = msg.child_frame_id
 
-    # Set translation
+    # Set the translation
     odom_trans.transform.translation.x = msg.pose.pose.position.x
     odom_trans.transform.translation.y = msg.pose.pose.position.y
     odom_trans.transform.translation.z = msg.pose.pose.position.z
 
-    # Set rotation
+    # Set the rotation
     odom_trans.transform.rotation = msg.pose.pose.orientation
 
-    # Broadcast the transform
+    # Publish the transform
-    tf_broadcaster.sendTransformMessage(odom_trans)
+    tf_broadcaster.sendTransform(odom_trans)
 
 if __name__ == "__main__":
-    rospy.init_node("tf_broadcaster")
+    rospy.init_node("tf2_broadcaster")
 
     # Create a TransformBroadcaster
-    tf_broadcaster = TransformBroadcaster()
+    tf_broadcaster = tf2_ros.TransformBroadcaster()
 
     # Subscribe to the /odom topic
     rospy.Subscriber("/odom", Odometry, odom_callback)
 
-    rospy.loginfo("TF broadcaster node is running...")
+    rospy.loginfo("TF2 broadcaster node is running...")
 
     # Keep the node running
     rospy.spin()