From a73b4d138cacb383a35e18fbca04d6ccadb6d0f8 Mon Sep 17 00:00:00 2001
From: Thomas Moulard <thomas.moulard@gmail.com>
Date: Tue, 20 Dec 2011 16:15:02 +0100
Subject: [PATCH] Publish plan_left_ankle to tf.
---
bin/tf_broadcaster | 5 +++++
1 file changed, 5 insertions(+)
diff --git a/bin/tf_broadcaster b/bin/tf_broadcaster
index ae1f201..df40ac2 100755
--- a/bin/tf_broadcaster
+++ b/bin/tf_broadcaster
@@ -47,6 +47,11 @@ if __name__ == '__main__':
rospy.Subscriber('/dynamic_graph/{0}'.format(topic),
geometry_msgs.msg.TransformStamped,
handleTransform, topic)
+
+ rospy.Subscriber('/plan_left_ankle',
+ geometry_msgs.msg.TransformStamped,
+ handleTransform, 'plan_left_ankle')
+
for topic in topicsVector:
rospy.Subscriber('/dynamic_graph/{0}'.format(topic),
geometry_msgs.msg.Vector3Stamped,
--
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