#include <ros/ros.h>
#include <tf/transform_broadcaster.h>

int main(int argc, char** argv) {
  // 初始化ROS节点
  ros::init(argc, argv, "laser_frame_publisher");
  ros::NodeHandle nh;

  // 创建TransformBroadcaster对象
  tf::TransformBroadcaster br;

  // 创建一个ROS循环的Rate对象，频率为10Hz
  ros::Rate rate(10.0); // 10 Hz

  while (ros::ok()) {
    // 定义一个tf变换
    tf::Transform transform;
    // 设置平移 (x, y, z)
    transform.setOrigin(tf::Vector3(0.2, 0.0, 0.1));
    // 设置旋转 (四元数)
    tf::Quaternion q;
    q.setRPY(0, 0, 0); // Roll, Pitch, Yaw 为 0
    transform.setRotation(q);

    // 广播这个变换
    br.sendTransform(tf::StampedTransform(transform, ros::Time::now(), "laser", "base_link"));

    // 按指定频率休眠
    rate.sleep();
  }

  return 0;
}