Class TFPublisher

• Defined in File TFPublisher.hpp

Class Documentation

class TFPublisher

Public Functions

explicit TFPublisher(std::shared_ptr<rclcpp::Node> node, const dai::CalibrationHandler &calHandler, const std::vector<dai::CameraFeatures> &camFeatures, const std::string &camName, const std::string &camModel, const std::string &baseFrame, const std::string &parentFrame, const std::string &camPosX, const std::string &camPosY, const std::string &camPosZ, const std::string &camRoll, const std::string &camPitch, const std::string &camYaw, const std::string &imuFromDescr, const std::string &customURDFLocation, const std::string &customXacroArgs, const bool rsCompatibilityMode)

std::string getURDF()

Obtain URDF description by running Xacro with provided arguments.

geometry_msgs::msg::Quaternion quatFromRotM(nlohmann::json rotMatrix)

geometry_msgs::msg::Vector3 transFromExtr(nlohmann::json translation)