transform_broadcaster.h

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#ifndef ROS_TRANSFORM_BROADCASTER_H_
#define ROS_TRANSFORM_BROADCASTER_H_

#include "ros.h"
#include "tfMessage.h"

namespace tf
{

  class TransformBroadcaster
  {
    public:
      TransformBroadcaster() : publisher_("/tf", &internal_msg) {}

      void init(ros::NodeHandle &nh)
      {
        nh.advertise(publisher_);
      }

      void sendTransform(geometry_msgs::TransformStamped &transform)
      {
        internal_msg.transforms_length = 1;
        internal_msg.transforms = &transform;
        publisher_.publish(&internal_msg);
      }

    private:
      tf::tfMessage internal_msg;
      ros::Publisher publisher_;
  };

}

#endif