msg.twist.twist.linear.z = 0 odom_pub.publish(msg) # br = tf.TransformBroadcaster() # br.sendTransform((msg.pose.pose.position.x, msg.pose.pose.position.y, msg.pose.pose.position.z), # q, # rospy.Time.now(), # "base_link", # "world") # br = tf.TransformBroadcaster() # e = tfs.euler_from_quaternion(q, 'rzyx') # qc = tfs.quaternion_from_euler(e[0], 0.0, 0.0, 'rzyx') # br.sendTransform((msg.pose.pose.position.x, msg.pose.pose.position.y, msg.pose.pose.position.z), # qc, # rospy.Time.now(), # "intermediate", # "world") msg = PositionCommand() msg.header.stamp = rospy.Time.now() msg.header.frame_id = "world" msg.position.x = 0.2 msg.position.y = 0.2 msg.position.z = 1.2 msg.trajectory_flag = msg.TRAJECTORY_STATUS_READY msg.trajectory_id = count // 2 + 1 pos_pub.publish(msg) count += 1