This class provides an easy way to publish coordinate frame transform information. It will handle all the messaging and stuffing of messages. And the function prototypes lay out all the necessary data needed for each message.
More...

#include <transform_broadcaster.h>

Public Member Functions
template<class NodeT , class AllocatorT = std::allocator<void>>
	TransformBroadcaster (NodeT &&node, const rclcpp::QoS &qos=DynamicBroadcasterQoS(), const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &options=rclcpp::PublisherOptionsWithAllocator< AllocatorT >())
	Node interface constructor. More...

TF2_ROS_PUBLIC void	sendTransform (const geometry_msgs::msg::TransformStamped &transform)
	Send a StampedTransform The stamped data structure includes frame_id, and time, and parent_id already. More...

TF2_ROS_PUBLIC void	sendTransform (const std::vector< geometry_msgs::msg::TransformStamped > &transforms)
	Send a vector of TransformStamped messages The stamped data structure includes frame_id, and time, and parent_id already. More...

Detailed Description

This class provides an easy way to publish coordinate frame transform information. It will handle all the messaging and stuffing of messages. And the function prototypes lay out all the necessary data needed for each message.

Constructor & Destructor Documentation

◆ TransformBroadcaster()

template<class NodeT , class AllocatorT = std::allocator<void>>

tf2_ros::TransformBroadcaster::TransformBroadcaster	(	NodeT &&	node,
		const rclcpp::QoS &	qos = `DynamicBroadcasterQoS()`,
		const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &	options = `rclcpp::PublisherOptionsWithAllocator<AllocatorT>()`
	)

inline

Node interface constructor.

Member Function Documentation

◆ sendTransform() [1/2]

TF2_ROS_PUBLIC void tf2_ros::TransformBroadcaster::sendTransform ( const geometry_msgs::msg::TransformStamped & transform )

Send a StampedTransform The stamped data structure includes frame_id, and time, and parent_id already.

Send a vector of StampedTransforms The stamped data structure includes frame_id, and time, and parent_id already.

Send a TransformStamped message The stamped data structure includes frame_id, and time, and parent_id already.

◆ sendTransform() [2/2]

TF2_ROS_PUBLIC void tf2_ros::TransformBroadcaster::sendTransform ( const std::vector< geometry_msgs::msg::TransformStamped > & transforms )

Send a vector of TransformStamped messages The stamped data structure includes frame_id, and time, and parent_id already.

The documentation for this class was generated from the following file:

/tmp/tmp.G0mQUHO3yi/src/ros2/geometry2/tf2_ros/include/tf2_ros/transform_broadcaster.h