static_transform_broadcaster::StaticTransformBroadcaster Class Reference

Continuously re-publishes passed in transforms. More...

#include <static_transform_broadcaster.h>

Public Member Functions
double	getPublishingRate () const
void	removeAllTransforms ()
	Removes all transforms from the list.
void	removeTransform (std::string child_frame_id)
	Removes a transform from the list, based on teh child_frame_id.
void	setPublishingRate (double rate)
	Sets the publishing rate. If passed value is negative, 0.0 is used instead.
void	setTransform (geometry_msgs::TransformStamped transform)
	Add a transform to the list or change an existing one.
	StaticTransformBroadcaster ()
	Starts the publishing thread.
	~StaticTransformBroadcaster ()
	Stops and joins the publishing thread.
Private Member Functions
void	publishingThread ()
Private Attributes
tf::TransformBroadcaster	broadcaster_
	The broadcaster used.
bool	finished_
	Internal flag showing the instance is being destructed.
boost::mutex	mutex_
	Mutex for access control.
double	publishing_rate_
	The broadcast rate, in seconds.
boost::thread *	publishing_thread_
	The thread used for publishing.
std::map< std::string, geometry_msgs::TransformStamped >	transforms_
	The internal list of transforms to be broadcast.

Detailed Description

Continuously re-publishes passed in transforms.

Used to keep in the system transforms that do not change often, but nobody wants to keep re-publishing. Just pass a transform to this class and it will keep republishing it for you until you remove it.

Transforms are uniquely identified by their child_frame_id. If a passed in transform has the same child_frame_id as an existing one, the old one is replaced by the new one.

The re-publishing is done at a constant rate which can be modified.

Definition at line 57 of file static_transform_broadcaster.h.

Constructor & Destructor Documentation

static_transform_broadcaster::StaticTransformBroadcaster::StaticTransformBroadcaster ( ) [inline]

Starts the publishing thread.

Definition at line 86 of file static_transform_broadcaster.h.

static_transform_broadcaster::StaticTransformBroadcaster::~StaticTransformBroadcaster ( ) [inline]

Stops and joins the publishing thread.

Definition at line 92 of file static_transform_broadcaster.h.

Member Function Documentation

double static_transform_broadcaster::StaticTransformBroadcaster::getPublishingRate ( ) const [inline]

Definition at line 137 of file static_transform_broadcaster.h.

void static_transform_broadcaster::StaticTransformBroadcaster::publishingThread ( ) [inline, private]

Does all the publishing work. Broadcasts all transforms with a time stamp of ros::Time::now() then sleeps for the duration equal to the publishing rate

Definition at line 67 of file static_transform_broadcaster.h.

void static_transform_broadcaster::StaticTransformBroadcaster::removeAllTransforms ( ) [inline]

Removes all transforms from the list.

Definition at line 126 of file static_transform_broadcaster.h.

void static_transform_broadcaster::StaticTransformBroadcaster::removeTransform ( std::string child_frame_id ) [inline]

Removes a transform from the list, based on teh child_frame_id.

Definition at line 109 of file static_transform_broadcaster.h.

void static_transform_broadcaster::StaticTransformBroadcaster::setPublishingRate ( double rate ) [inline]

Sets the publishing rate. If passed value is negative, 0.0 is used instead.

Definition at line 132 of file static_transform_broadcaster.h.

void static_transform_broadcaster::StaticTransformBroadcaster::setTransform ( geometry_msgs::TransformStamped transform ) [inline]

Add a transform to the list or change an existing one.