Public Member Functions
void	publishFixedTransforms (const std::string &tf_prefix, bool use_tf_static=false)
void	publishTransforms (const std::map< std::string, double > &joint_positions, const ros::Time &time, const std::string &tf_prefix)
	RobotStatePublisher (const KDL::Tree &tree, const urdf::Model &model=urdf::Model())
	~RobotStatePublisher ()
	Destructor.
Private Member Functions
void	addChildren (const KDL::SegmentMap::const_iterator segment)
Private Attributes
const urdf::Model &	model_
std::map< std::string, SegmentPair >	segments_
std::map< std::string, SegmentPair >	segments_fixed_
tf2_ros::StaticTransformBroadcaster	static_tf_broadcaster_
tf2_ros::TransformBroadcaster	tf_broadcaster_

Detailed Description

Definition at line 63 of file robot_state_publisher.h.

Constructor & Destructor Documentation

robot_state_publisher::RobotStatePublisher::RobotStatePublisher	(	const KDL::Tree &	tree,
		const urdf::Model &	model = `urdf::Model()`
	)

Constructor

Parameters:

tree	The kinematic model of a robot, represented by a KDL Tree

Definition at line 48 of file robot_state_publisher.cpp.

robot_state_publisher::RobotStatePublisher::~RobotStatePublisher ( ) [inline]

Destructor.

Definition at line 72 of file robot_state_publisher.h.

void robot_state_publisher::RobotStatePublisher::addChildren ( const KDL::SegmentMap::const_iterator segment ) [private]

Definition at line 56 of file robot_state_publisher.cpp.

void robot_state_publisher::RobotStatePublisher::publishFixedTransforms	(	const std::string &	tf_prefix,
		bool	use_tf_static = `false`
	)

Definition at line 103 of file robot_state_publisher.cpp.

void robot_state_publisher::RobotStatePublisher::publishTransforms	(	const std::map< std::string, double > &	joint_positions,
		const ros::Time &	time,
		const std::string &	tf_prefix
	)