robot_state_publisher::RobotStatePublisher Class Reference

#include <robot_state_publisher.h>

Inheritance diagram for robot_state_publisher::RobotStatePublisher:

Public Member Functions
virtual void	publishFixedTransforms (bool use_tf_static=false)
void	publishFixedTransforms (const std::string &tf_prefix, bool use_tf_static=false)
virtual void	publishTransforms (const std::map< std::string, double > &joint_positions, const ros::Time &time)
void	publishTransforms (const std::map< std::string, double > &joint_positions, const ros::Time &time, const std::string &tf_prefix)
	RobotStatePublisher ()
	RobotStatePublisher (const KDL::Tree &tree, const urdf::Model &model=urdf::Model())
	~RobotStatePublisher ()
	Destructor. More...

Protected Member Functions
virtual void	addChildren (const KDL::SegmentMap::const_iterator segment)

Protected Attributes
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 96 of file robot_state_publisher.h.

Constructor & Destructor Documentation

RobotStatePublisher() [1/2]

robot_state_publisher::RobotStatePublisher::RobotStatePublisher

(

)

Default constructor.

Definition at line 80 of file robot_state_publisher.cpp.

RobotStatePublisher() [2/2]

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 84 of file robot_state_publisher.cpp.

~RobotStatePublisher()

robot_state_publisher::RobotStatePublisher::~RobotStatePublisher ( )

inline

Destructor.

Definition at line 109 of file robot_state_publisher.h.

Member Function Documentation

addChildren()

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

protectedvirtual

Definition at line 92 of file robot_state_publisher.cpp.

publishFixedTransforms() [1/2]

void robot_state_publisher::RobotStatePublisher::publishFixedTransforms ( bool  use_tf_static = false )

virtual

Definition at line 207 of file robot_state_publisher.cpp.

publishFixedTransforms() [2/2]

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

Definition at line 177 of file robot_state_publisher.cpp.

publishTransforms() [1/2]

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

virtual

Publish transforms to tf

Parameters

joint_positions	A map of joint names and joint positions.
time	The time at which the joint positions were recorded

Definition at line 202 of file robot_state_publisher.cpp.

publishTransforms() [2/2]

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

Publish transforms with tf_prefix

Definition at line 154 of file robot_state_publisher.cpp.

Member Data Documentation

model_

urdf::Model robot_state_publisher::RobotStatePublisher::model_

protected

Definition at line 127 of file robot_state_publisher.h.

segments_

std::map<std::string, SegmentPair> robot_state_publisher::RobotStatePublisher::segments_

protected

Definition at line 126 of file robot_state_publisher.h.

segments_fixed_

std::map<std::string, SegmentPair> robot_state_publisher::RobotStatePublisher::segments_fixed_

protected

Definition at line 126 of file robot_state_publisher.h.

static_tf_broadcaster_

tf2_ros::StaticTransformBroadcaster robot_state_publisher::RobotStatePublisher::static_tf_broadcaster_

protected

Definition at line 129 of file robot_state_publisher.h.

tf_broadcaster_

tf2_ros::TransformBroadcaster robot_state_publisher::RobotStatePublisher::tf_broadcaster_

protected

Definition at line 128 of file robot_state_publisher.h.

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The documentation for this class was generated from the following files:

• robot_state_publisher.h
• robot_state_publisher.cpp