tf2_ros  master
This package contains the ROS bindings for the tf2 library, for both Python and C++.
transform_broadcaster.h
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29 
30 
33 #ifndef TF2_ROS_TRANSFORMBROADCASTER_H
34 #define TF2_ROS_TRANSFORMBROADCASTER_H
35 
36 #include "rclcpp/rclcpp.hpp"
37 #include "geometry_msgs/msg/transform_stamped.hpp"
38 #include "tf2_msgs/msg/tf_message.hpp"
39 #include "tf2_ros/qos.hpp"
41 
42 namespace tf2_ros
43 {
44 
50 public:
52  template<class NodeT, class AllocatorT = std::allocator<void>>
54  NodeT && node,
55  const rclcpp::QoS & qos = DynamicBroadcasterQoS(),
56  const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options =
57  rclcpp::PublisherOptionsWithAllocator<AllocatorT>())
58  {
59  publisher_ = rclcpp::create_publisher<tf2_msgs::msg::TFMessage>(
60  node, "/tf", qos, options);
61  }
62 
65  // void sendTransform(const StampedTransform & transform);
66 
69  //void sendTransform(const std::vector<StampedTransform> & transforms);
70 
74  void sendTransform(const geometry_msgs::msg::TransformStamped & transform);
75 
80 
81 private:
82  rclcpp::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr publisher_;
83 
84 };
85 
86 }
87 
88 #endif //TF_TRANSFORMBROADCASTER_H
tf2_ros::TransformBroadcaster::sendTransform
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...
std::vector
tf2_ros::DynamicBroadcasterQoS
Definition: qos.hpp:45
qos.hpp
tf2_ros::TransformBroadcaster::TransformBroadcaster
TransformBroadcaster(NodeT &&node, const rclcpp::QoS &qos=DynamicBroadcasterQoS(), const rclcpp::PublisherOptionsWithAllocator< AllocatorT > &options=rclcpp::PublisherOptionsWithAllocator< AllocatorT >())
Node interface constructor.
Definition: transform_broadcaster.h:53
tf2_ros
Definition: async_buffer_interface.h:41
TF2_ROS_PUBLIC
#define TF2_ROS_PUBLIC
Definition: visibility_control.h:58
visibility_control.h
tf2_ros::TransformBroadcaster
This class provides an easy way to publish coordinate frame transform information....
Definition: transform_broadcaster.h:49