transform_broadcaster.py

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import rospy
from tf2_msgs.msg import TFMessage
from geometry_msgs.msg import TransformStamped


class TransformBroadcaster:
    """
    :class:`TransformBroadcaster` is a convenient way to send transformation updates on the ``"/tf"`` message topic.
    """

    def __init__(self):
        self.pub_tf = rospy.Publisher("/tf", TFMessage)

    def sendTransform(self, transform):
        if not isinstance(transform, list):
            transform = [transform]
        self.pub_tf.publish(TFMessage(transform))