tf2_ros  master
This package contains the ROS bindings for the tf2 library, for both Python and C++.
static_transform_broadcaster.h
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29 
30 
33 #ifndef TF2_ROS__STATIC_TRANSFORM_BROADCASTER_H_
34 #define TF2_ROS__STATIC_TRANSFORM_BROADCASTER_H_
35 
37 
38 #include <rclcpp/rclcpp.hpp>
39 #include <geometry_msgs/msg/transform_stamped.hpp>
40 #include <tf2_msgs/msg/tf_message.hpp>
41 #include <tf2_ros/qos.hpp>
42 
43 #include <memory>
44 #include <vector>
45 
46 namespace tf2_ros
47 {
48 
54 {
55 public:
57  template<class NodeT, class AllocatorT = std::allocator<void>>
59  NodeT && node,
60  const rclcpp::QoS & qos = StaticBroadcasterQoS(),
61  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = []() {
62  rclcpp::PublisherOptionsWithAllocator<AllocatorT> options;
63  options.qos_overriding_options = rclcpp::QosOverridingOptions{
64  rclcpp::QosPolicyKind::Depth,
65  rclcpp::QosPolicyKind::History,
66  rclcpp::QosPolicyKind::Reliability};
67  return options;
68  } ())
69  {
70  publisher_ = rclcpp::create_publisher<tf2_msgs::msg::TFMessage>(
71  node, "/tf_static", qos, options);
72  }
73 
77  void sendTransform(const geometry_msgs::msg::TransformStamped & transform);
78 
83 
84 private:
86  rclcpp::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr publisher_;
87  tf2_msgs::msg::TFMessage net_message_;
88 };
89 
90 } // namespace tf2_ros
91 
92 #endif // TF2_ROS__STATIC_TRANSFORM_BROADCASTER_H_
std::vector
qos.hpp
tf2_ros::StaticTransformBroadcaster
This class provides an easy way to publish coordinate frame transform information....
Definition: static_transform_broadcaster.h:53
tf2_ros
Definition: async_buffer_interface.h:43
tf2_ros::StaticBroadcasterQoS
Definition: qos.hpp:63
TF2_ROS_PUBLIC
#define TF2_ROS_PUBLIC
Definition: visibility_control.h:58
visibility_control.h
tf2_ros::StaticTransformBroadcaster::StaticTransformBroadcaster
StaticTransformBroadcaster(NodeT &&node, const rclcpp::QoS &qos=StaticBroadcasterQoS(), const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &options=[]() { rclcpp::PublisherOptionsWithAllocator< AllocatorT > options;options.qos_overriding_options=rclcpp::QosOverridingOptions{ rclcpp::QosPolicyKind::Depth, rclcpp::QosPolicyKind::History, rclcpp::QosPolicyKind::Reliability};return options;}())
Node interface constructor.
Definition: static_transform_broadcaster.h:58
tf2_ros::StaticTransformBroadcaster::sendTransform
TF2_ROS_PUBLIC void sendTransform(const geometry_msgs::msg::TransformStamped &transform)
Send a TransformStamped message The stamped data structure includes frame_id, and time,...