def __init__(self):
self.atf = atf_core.ATF()
self.pub_freq = 20.0 # Hz
self.br = tf.TransformBroadcaster()
def __init__(self):
self.atf = atf_core.ATF()
self.ptf = PublishTf()
def __init__(self):
self.atf = atf_core.ATF()