transform_listener.h
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29 
32 #ifndef TF2_ROS_TRANSFORMLISTENER_H
33 #define TF2_ROS_TRANSFORMLISTENER_H
34 
35 #include "std_msgs/Empty.h"
36 #include "tf2_msgs/TFMessage.h"
37 #include "ros/ros.h"
38 #include "ros/callback_queue.h"
39 
40 #include "tf2_ros/buffer.h"
41 
42 #include "boost/thread.hpp"
43 
44 namespace tf2_ros{
45 
49 {
50 
51 public:
53  TransformListener(tf2::BufferCore& buffer, bool spin_thread = true);
54  TransformListener(tf2::BufferCore& buffer, const ros::NodeHandle& nh, bool spin_thread = true);
55 
57 
58 private:
59 
61  void init();
62  void initWithThread();
63 
68 
77 
79  {
80  while (using_dedicated_thread_)
81  {
82  tf_message_callback_queue_.callAvailable(ros::WallDuration(0.01));
83  }
84  };
85 
86 };
87 }
88 
89 #endif //TF_TRANSFORMLISTENER_H
TransformListener(tf2::BufferCore &buffer, bool spin_thread=true)
Constructor for transform listener.
boost::thread * dedicated_listener_thread_
ros::Subscriber message_subscriber_tf_static_
ros::CallbackQueue tf_message_callback_queue_
void subscription_callback_impl(const ros::MessageEvent< tf2_msgs::TFMessage const > &msg_evt, bool is_static)
ros::Subscriber message_subscriber_tf_
void init()
Initialize this transform listener, subscribing, advertising services, etc.
This class provides an easy way to request and receive coordinate frame transform information...
Definition: buffer.h:42
void subscription_callback(const ros::MessageEvent< tf2_msgs::TFMessage const > &msg_evt)
Callback function for ros message subscriptoin.
void static_subscription_callback(const ros::MessageEvent< tf2_msgs::TFMessage const > &msg_evt)


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Fri May 3 2019 02:18:05