Aggiunto nodo Broadcaster continuo delle trasformazioni

src/roboglue_ros/CMakeLists.txt

@@ -13,7 +13,8 @@ find_package(catkin REQUIRED COMPONENTS
   moveit_ros_planning
   moveit_ros_planning_interface
   moveit_visual_tools
-)
+  tf
+  )
 
 find_package (Eigen3 REQUIRED)
 find_package (Boost REQUIRED system thread chrono)
@@ -148,6 +149,11 @@ include_directories(
      src/roboglue_follower.cpp
      src/roboglue_utils.cpp
      )
+ add_executable(
+     ${PROJECT_NAME}_broadcaster
+     src/roboglue_broadcaster.cpp
+     src/roboglue_utils.cpp
+     )
  add_executable (
      ${PROJECT_NAME}_test
      src/roboglue_test.cpp
@@ -177,6 +183,9 @@ target_link_libraries(
 target_link_libraries(
     ${PROJECT_NAME}_follower ${catkin_LIBRARIES}
 )
+target_link_libraries(
+    ${PROJECT_NAME}_broadcaster ${catkin_LIBRARIES}
+)
 
 
 #############