Class TFPublisher

Class Documentation

class TFPublisher

Public Functions

explicit TFPublisher(std::shared_ptr<rclcpp::Node> node, const dai::CalibrationHandler &calHandler, const std::vector<dai::CameraFeatures> &camFeatures, const std::string &camName, const std::string &camModel, const std::string &baseFrame = "oak", const std::string &parentFrame = "oak_parent_frame", const std::string &camPosX = "0.0", const std::string &camPosY = "0.0", const std::string &camPosZ = "0.0", const std::string &camRoll = "0.0", const std::string &camPitch = "0.0", const std::string &camYaw = "0.0", const std::string &imuFromDescr = "false", const std::string &customURDFLocation = "", const std::string &customXacroArgs = "", const bool rsCompatibilityMode = false)

std::string getURDF(): Obtain URDF description by running Xacro with provided arguments.

geometry_msgs::msg::Quaternion quatFromRotM(std::vector<std::vector<float>> extrMat)