00001 /* 00002 * Copyright (c) 2008, Willow Garage, Inc. 00003 * All rights reserved. 00004 * 00005 * Redistribution and use in source and binary forms, with or without 00006 * modification, are permitted provided that the following conditions are met: 00007 * 00008 * * Redistributions of source code must retain the above copyright 00009 * notice, this list of conditions and the following disclaimer. 00010 * * Redistributions in binary form must reproduce the above copyright 00011 * notice, this list of conditions and the following disclaimer in the 00012 * documentation and/or other materials provided with the distribution. 00013 * * Neither the name of the Willow Garage, Inc. nor the names of its 00014 * contributors may be used to endorse or promote products derived from 00015 * this software without specific prior written permission. 00016 * 00017 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" 00018 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE 00019 * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE 00020 * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE 00021 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR 00022 * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF 00023 * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS 00024 * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN 00025 * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) 00026 * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00027 * POSSIBILITY OF SUCH DAMAGE. 00028 */ 00029 00030 00034 #include "ros/ros.h" 00035 #include "tf2_msgs/TFMessage.h" 00036 #include "tf2_ros/transform_broadcaster.h" 00037 00038 namespace tf2_ros { 00039 00040 TransformBroadcaster::TransformBroadcaster() 00041 { 00042 publisher_ = node_.advertise<tf2_msgs::TFMessage>("/tf", 100); 00043 }; 00044 00045 void TransformBroadcaster::sendTransform(const geometry_msgs::TransformStamped & msgtf) 00046 { 00047 std::vector<geometry_msgs::TransformStamped> v1; 00048 v1.push_back(msgtf); 00049 sendTransform(v1); 00050 } 00051 00052 00053 void TransformBroadcaster::sendTransform(const std::vector<geometry_msgs::TransformStamped> & msgtf) 00054 { 00055 tf2_msgs::TFMessage message; 00056 for (std::vector<geometry_msgs::TransformStamped>::const_iterator it = msgtf.begin(); it != msgtf.end(); ++it) 00057 { 00058 message.transforms.push_back(*it); 00059 } 00060 publisher_.publish(message); 00061 } 00062 00063 00064 } 00065 00066