#!/usr/bin/env python3
import rclpy
from rclpy.node import Node
from rclpy.duration import Duration

from geometry_msgs.msg import TransformStamped
from gazebo_msgs.msg import ModelStates
import tf2_ros as tf2



class TFWorld(object):
    def __init__(self):
        rclpy.init()
        node = Node("map")
        br = tf2.StaticTransformBroadcaster(node)
        transform = TransformStamped()
        transform.header.frame_id = "map"
        transform.header.stamp = node.get_clock().now().to_msg()
        transform.child_frame_id = "odom"

        transform.transform.translation.x = 0.0
        transform.transform.translation.y = 0.0
        transform.transform.translation.z = 0.0
        transform.transform.rotation.x = 0.0
        transform.transform.rotation.y = 0.0
        transform.transform.rotation.z = 0.0
        transform.transform.rotation.w = 1.0
        br.sendTransform(transform)
        try:
            rclpy.spin(node)
        except KeyboardInterrupt:
            pass
        rclpy.shutdown()

if __name__ == "__main__":
    TFWorld()

#!/usr/bin/env python3
import rclpy
from rclpy.node import Node

import tf2_ros as tf2



class TFWorld(object):
    def __init__(self):
        rclpy.init()
        node = Node("map")
        br = tf2.StaticTransformBroadcaster(node)
        transform = TransformStamped()
        transform.header.frame_id = "map"
        transform.header.stamp = node.get_clock().now().to_msg()
        transform.child_frame_id = "odom"

        transform.transform.translation.x = 0.0
        transform.transform.translation.y = 0.0
        transform.transform.translation.z = 0.0
        transform.transform.rotation.x = 0.0
        transform.transform.rotation.y = 0.0
        transform.transform.rotation.z = 0.0
        transform.transform.rotation.w = 1.0
        br.sendTransform(transform)
        try:
            rclpy.spin(node)
        except KeyboardInterrupt:
            pass
        rclpy.shutdown()

if __name__ == "__main__":
    TFWorld()

remove unnecessary imports