Program Listing for File static_transform_broadcaster.h
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#ifndef TF2_ROS__STATIC_TRANSFORM_BROADCASTER_H_
#define TF2_ROS__STATIC_TRANSFORM_BROADCASTER_H_
#include <memory>
#include <vector>
#include "tf2_ros/visibility_control.h"
#include "rclcpp/node_interfaces/get_node_parameters_interface.hpp"
#include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "tf2_msgs/msg/tf_message.hpp"
#include "tf2_ros/qos.hpp"
namespace tf2_ros
{
class StaticTransformBroadcaster
{
public:
template<class NodeT, class AllocatorT = std::allocator<void>>
StaticTransformBroadcaster(
NodeT && node,
const rclcpp::QoS & qos = StaticBroadcasterQoS(),
const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = [] () {
rclcpp::PublisherOptionsWithAllocator<AllocatorT> options;
options.qos_overriding_options = rclcpp::QosOverridingOptions{
rclcpp::QosPolicyKind::Depth,
rclcpp::QosPolicyKind::History,
rclcpp::QosPolicyKind::Reliability};
return options;
} ())
: StaticTransformBroadcaster(
rclcpp::node_interfaces::get_node_parameters_interface(node),
rclcpp::node_interfaces::get_node_topics_interface(node),
qos,
options)
{}
template<class AllocatorT = std::allocator<void>>
StaticTransformBroadcaster(
rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters,
rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
const rclcpp::QoS & qos = StaticBroadcasterQoS(),
const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = [] () {
rclcpp::PublisherOptionsWithAllocator<AllocatorT> options;
options.qos_overriding_options = rclcpp::QosOverridingOptions{
rclcpp::QosPolicyKind::Depth,
rclcpp::QosPolicyKind::History,
rclcpp::QosPolicyKind::Reliability};
return options;
} ())
{
publisher_ = rclcpp::create_publisher<tf2_msgs::msg::TFMessage>(
node_parameters, node_topics, "/tf_static", qos, options);
}
TF2_ROS_PUBLIC
void sendTransform(const geometry_msgs::msg::TransformStamped & transform);
TF2_ROS_PUBLIC
void sendTransform(const std::vector<geometry_msgs::msg::TransformStamped> & transforms);
private:
rclcpp::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr publisher_;
tf2_msgs::msg::TFMessage net_message_;
};
} // namespace tf2_ros
#endif // TF2_ROS__STATIC_TRANSFORM_BROADCASTER_H_