transform_broadcaster.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#ifndef TF2_ROS__TRANSFORM_BROADCASTER_H_
#define TF2_ROS__TRANSFORM_BROADCASTER_H_
 
#include <tf2_ros/visibility_control.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 <memory>
#include <vector>
 
 
namespace tf2_ros
{
 
class TransformBroadcaster
{
public:
  template<class NodeT, class AllocatorT = std::allocator<void>>
  TransformBroadcaster(
    NodeT && node,
    const rclcpp::QoS & qos = DynamicBroadcasterQoS(),
    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = []() {
      rclcpp::PublisherOptionsWithAllocator<AllocatorT> options;
      options.qos_overriding_options = rclcpp::QosOverridingOptions{
        rclcpp::QosPolicyKind::Depth,
        rclcpp::QosPolicyKind::Durability,
        rclcpp::QosPolicyKind::History,
        rclcpp::QosPolicyKind::Reliability};
      return options;
    } ())
  {
    publisher_ = rclcpp::create_publisher<tf2_msgs::msg::TFMessage>(
      node, "/tf", 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_;
};
 
}  // namespace tf2_ros
 
#endif  // TF2_ROS__TRANSFORM_BROADCASTER_H_