static_transform_broadcaster.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
 * All rights reserved.
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#ifndef TF2_ROS_STATICTRANSFORMBROADCASTER_H
#define TF2_ROS_STATICTRANSFORMBROADCASTER_H
 
 
 
#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "tf2_msgs/msg/tf_message.hpp"
#include "tf2_ros/qos.hpp"
#include "tf2_ros/visibility_control.h"
 
namespace tf2_ros
{
 
class StaticTransformBroadcaster{
public:
  template<class NodeT, class AllocatorT = std::allocator<void>>
  StaticTransformBroadcaster(
    NodeT && node,
    const rclcpp::QoS & qos = StaticBroadcasterQoS(),
    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options =
      rclcpp::PublisherOptionsWithAllocator<AllocatorT>())
  {
    publisher_ = rclcpp::create_publisher<tf2_msgs::msg::TFMessage>(
      node, "/tf_static", qos, options);
  }
 
  TF2_ROS_PUBLIC
  void sendTransform(const geometry_msgs::msg::TransformStamped & transform);
 
  TF2_ROS_PUBLIC
  void sendTransform(const std::vector<geometry_msgs::msg::TransformStamped> & transforms);
 
private:
  rclcpp::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr publisher_;
  tf2_msgs::msg::TFMessage net_message_;
 
};
 
}
 
#endif //TF_STATICTRANSFORMBROADCASTER_H