static_transform_broadcaster_node.hpp

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/*
 * Copyright (c) 2019, Open Source Robotics Foundation, Inc.
 * All rights reserved.
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#ifndef TF2_ROS__STATIC_TRANSFORM_BROADCASTER_NODE_HPP_
#define TF2_ROS__STATIC_TRANSFORM_BROADCASTER_NODE_HPP_
 
#include <tf2_ros/static_transform_broadcaster.h>
#include <tf2_ros/static_transform_broadcaster_visibility_control.h>
 
#include <rclcpp/rclcpp.hpp>
 
#include <memory>
 
namespace tf2_ros
{
class StaticTransformBroadcasterNode final : public rclcpp::Node
{
public:
  STATIC_TRANSFORM_BROADCASTER_PUBLIC
  explicit StaticTransformBroadcasterNode(const rclcpp::NodeOptions & options);
 
  STATIC_TRANSFORM_BROADCASTER_PUBLIC
  ~StaticTransformBroadcasterNode() override = default;
 
private:
  std::unique_ptr<tf2_ros::StaticTransformBroadcaster> broadcaster_;
};
 
}  // namespace tf2_ros
 
#endif  // TF2_ROS__STATIC_TRANSFORM_BROADCASTER_NODE_HPP_