update

nodes/odom_publisher_linus.py

@@ -1,57 +1,38 @@
-#include <ros/ros.h>
-#include <tf/transform_broadcaster.h>
-#include <nav_msgs/Odometry.h>
-#include <geometry_msgs/TransformStamped.h>
-#include <signal.h>
+#!/usr/bin/env python
 
-volatile sig_atomic_t flag = 0;
+import rospy
+from tf.transform_broadcaster import TransformBroadcaster
+from nav_msgs.msg import Odometry
+from geometry_msgs.msg import TransformStamped
 
-void signal_handler(int signum) {
-  flag = 1;
-}
+def odom_callback(msg):
+    # Create 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
 
-void odomCallback(const nav_msgs::Odometry::ConstPtr& msg, tf::TransformBroadcaster& odom_broadcaster) {
-  // Create transform message
-  geometry_msgs::TransformStamped odom_trans;
-  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
+    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
 
-  // Copy translation and rotation
-  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;
-  odom_trans.transform.rotation = msg->pose.pose.orientation;
+    # Set rotation
+    odom_trans.transform.rotation = msg.pose.pose.orientation
 
-  // Publish the transform
-  odom_broadcaster.sendTransform(odom_trans);
-}
+    # Broadcast the transform
+    tf_broadcaster.sendTransformMessage(odom_trans)
 
-int main(int argc, char** argv) {
-  ros::init(argc, argv, "tf_broadcaster");
-  ros::NodeHandle nh;
+if __name__ == "__main__":
+    rospy.init_node("tf_broadcaster")
 
-  // Register the signal handler
-  signal(SIGINT, signal_handler);
+    # Create a TransformBroadcaster
+    tf_broadcaster = TransformBroadcaster()
 
-  // Create the transform broadcaster
-  tf::TransformBroadcaster odom_broadcaster;
+    # Subscribe to the /odom topic
+    rospy.Subscriber("/odom", Odometry, odom_callback)
 
-  // Subscribe to the /odom topic
-  ros::Subscriber odom_sub = nh.subscribe<nav_msgs::Odometry>(
-      "/odom", 10,
-      boost::bind(odomCallback, _1, boost::ref(odom_broadcaster)));
+    rospy.loginfo("TF broadcaster node is running...")
 
-  ROS_INFO("TF broadcaster node running...");
-
-  // Spin until the node is stopped
-  ros::Rate rate(10.0); // Adjust rate if necessary
-  while (ros::ok() && !flag) {
-    ros::spinOnce();
-    rate.sleep();
-  }
-
-  ROS_INFO("TF broadcaster node shutting down.");
-  ros::shutdown();
-  return 0;
-}
+    # Keep the node running
+    rospy.spin()