TransformPublisher.cpp
Go to the documentation of this file.00001 #include "TransformPublisher.h" 00002 00003 #include <sstream> 00004 00005 using namespace std; 00006 using namespace ros; 00007 using namespace tf; 00008 using namespace aruco; 00009 00010 void TransformPublisher::publishTransform(std_msgs::Header imageHeader, Marker marker, btVector3 position, btQuaternion orientation) 00011 { 00012 stringstream targetFrame; 00013 targetFrame << "/marker_" << marker.id; 00014 00015 transformBroadcaster.sendTransform(StampedTransform(Transform(orientation, position), imageHeader.stamp, imageHeader.frame_id, targetFrame.str())); 00016 } 00017