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_STATICTRANSFORMBROADCASTER_H
34 #define TF2_ROS_STATICTRANSFORMBROADCASTER_H
35 
36 
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"
43 
44 namespace tf2_ros
45 {
46 
52 public:
54  template<class NodeT, class AllocatorT = std::allocator<void>>
56  NodeT && node,
57  const rclcpp::QoS & qos = StaticBroadcasterQoS(),
58  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options =
59  rclcpp::PublisherOptionsWithAllocator<AllocatorT>())
60  {
61  publisher_ = rclcpp::create_publisher<tf2_msgs::msg::TFMessage>(
62  node, "/tf_static", qos, options);
63  }
64 
68  void sendTransform(const geometry_msgs::msg::TransformStamped & transform);
69 
74 
75 private:
77  rclcpp::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr publisher_;
78  tf2_msgs::msg::TFMessage net_message_;
79 
80 };
81 
82 }
83 
84 #endif //TF_STATICTRANSFORMBROADCASTER_H
tf2_ros::StaticTransformBroadcaster::StaticTransformBroadcaster
StaticTransformBroadcaster(NodeT &&node, const rclcpp::QoS &qos=StaticBroadcasterQoS(), const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &options=rclcpp::PublisherOptionsWithAllocator< AllocatorT >())
Node interface constructor.
Definition: static_transform_broadcaster.h:55
std::vector
qos.hpp
tf2_ros::StaticTransformBroadcaster
This class provides an easy way to publish coordinate frame transform information....
Definition: static_transform_broadcaster.h:51
tf2_ros
Definition: async_buffer_interface.h:41
tf2_ros::StaticBroadcasterQoS
Definition: qos.hpp:60
TF2_ROS_PUBLIC
#define TF2_ROS_PUBLIC
Definition: visibility_control.h:58
visibility_control.h
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,...