Template Class TF2ListenerMixin

• Defined in File setpoint_mixin.hpp

Class Documentation

template<class D>
class TF2ListenerMixin

This mixin adds TF2 listener thread to plugin.

It requires tf_frame_id, tf_child_frame_id strings tf_rate double and uas object pointer

Public Functions

inline void tf2_start(const char *_thd_name, void (D::* cbp)(const geometry_msgs::msg::TransformStamped&))

start tf listener

Parameters:

• _thd_name – listener thread name

• cbp – plugin callback function

Public Members

std::string tf_thd_name

rclcpp::TimerBase::SharedPtr timer_