#!/usr/bin/env python
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#!/usr/bin/env python

import rospy
import math

import tf

if __name__ == '__main__':
    rospy.init_node('send_tf')

    br = tf.TransformBroadcaster()
    r = rospy.Rate(10)
    t = 0
    while not rospy.is_shutdown():
        for m in range(1,20):
            br.sendTransform((0, 0, 0),
                             tf.transformations.quaternion_from_euler(0, .8*m, 0),
                             rospy.Time.now(),
                             "frame0_{0}".format(m),
                             "base_link")
            for n in range(1,20):
                br.sendTransform((.2*math.sin(t*10+n), 0, .2),
                                 tf.transformations.quaternion_from_euler(0, .6 * math.sin(t), .2),
                                 rospy.Time.now(),
                                 "frame{0}_{1}".format(n, m),
                                 "frame{0}_{1}".format(n-1, m))
        t += .01
        r.sleep()
