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