Program Listing for File static_transform_broadcaster_node.hpp

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/*
 * Copyright (c) 2019, Open Source Robotics Foundation, Inc.
 * All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions are met:
 *
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 *       notice, this list of conditions and the following disclaimer.
 *     * Redistributions in binary form must reproduce the above copyright
 *       notice, this list of conditions and the following disclaimer in the
 *       documentation and/or other materials provided with the distribution.
 *     * Neither the name of the Willow Garage, Inc. nor the names of its
 *       contributors may be used to endorse or promote products derived from
 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef TF2_ROS__STATIC_TRANSFORM_BROADCASTER_NODE_HPP_
#define TF2_ROS__STATIC_TRANSFORM_BROADCASTER_NODE_HPP_

#include <memory>

#include "tf2_ros/static_transform_broadcaster.h"
#include "tf2_ros/static_transform_broadcaster_visibility_control.h"

#include "rclcpp/rclcpp.hpp"

namespace tf2_ros
{
class StaticTransformBroadcasterNode final : public rclcpp::Node
{
public:
  STATIC_TRANSFORM_BROADCASTER_PUBLIC
  explicit StaticTransformBroadcasterNode(const rclcpp::NodeOptions & options);

  STATIC_TRANSFORM_BROADCASTER_PUBLIC
  ~StaticTransformBroadcasterNode() override = default;

private:
  std::unique_ptr<tf2_ros::StaticTransformBroadcaster> broadcaster_;
};

}  // namespace tf2_ros

#endif  // TF2_ROS__STATIC_TRANSFORM_BROADCASTER_NODE_HPP_