Small example to subscribe to and broadcast tf using Python. The node will broadcast a tf 1.5m in from of the head of the robot (box frame)
This code needs to run together with the urdf sim tutorial, which can be installed with
$ sudo apt-get install ros-melodic-urdf-sim-tutorial
The simulation with the R2D2 robot can be started with:
$ roslaunch urdf_sim_tutorial 13-diffdrive.launch
Once this is running, the publisher node can be started with
$ rosrun pub_tf broadcast.py
The package must be build and source before it can be started.
$ cd <workspace>
$ catkin build
$ source devel/setup.bash