static_transform_broadcaster.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#include "ros/ros.h"
#include "tf2_msgs/TFMessage.h"
#include "tf2_ros/static_transform_broadcaster.h"

namespace tf2_ros {

StaticTransformBroadcaster::StaticTransformBroadcaster()
{
  publisher_ = node_.advertise<tf2_msgs::TFMessage>("/tf_static", 100, true);
};

void StaticTransformBroadcaster::sendTransform(const geometry_msgs::TransformStamped & msgtf)
{
  std::vector<geometry_msgs::TransformStamped> v1;
  v1.push_back(msgtf);
  sendTransform(v1);
}


void StaticTransformBroadcaster::sendTransform(const std::vector<geometry_msgs::TransformStamped> & msgtf)
{
  for (std::vector<geometry_msgs::TransformStamped>::const_iterator it_in = msgtf.begin(); it_in != msgtf.end(); ++it_in)
  {
    bool match_found = false;
    for (std::vector<geometry_msgs::TransformStamped>::iterator it_msg = net_message_.transforms.begin(); it_msg != net_message_.transforms.end(); ++it_msg)
    {
      if (it_in->child_frame_id == it_msg->child_frame_id)
      {
        *it_msg = *it_in;
        match_found = true;
        break;
      }
    }
    if (! match_found)
      net_message_.transforms.push_back(*it_in);
  }

  publisher_.publish(net_message_);
}


}