text: #include <ros/ros.h>
  #include <tf/transform_broadcaster.h>
  
  int main (int argc, char** argv){
  
     ros::init(argc, argv, "robot_tf_publisher");
     ros::NodeHandle n;
   
     ros::Rate r(100);
   
     tf::TransformBroadcaster broadcaster;
   
     while(n.ok()){
       broadcaster.sendTransform(
         tf::StampedTransform(
           tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.1, 0.0, 0.2)),
           ros::Time::now(),"base_link", "base_laser"));
       r.sleep();
     }
   }
  