Class TFPublisher
Defined in File TFPublisher.hpp
Class Documentation
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class TFPublisher
Public Functions
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explicit TFPublisher(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)
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std::string getURDF()
Obtain URDF description by running Xacro with provided arguments.
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geometry_msgs::msg::Quaternion quatFromRotM(nlohmann::json rotMatrix)
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geometry_msgs::msg::Vector3 transFromExtr(nlohmann::json translation)
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explicit TFPublisher(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)