This class provides an easy way to publish coordinate frame transform information.
It will handle all the messaging and stuffing of messages. And the function prototypes lay out all the necessary data needed for each message.
More...

#include <transform_broadcaster.h>

Public Member Functions
void	sendTransform (const geometry_msgs::TransformStamped &transform)
	Send a StampedTransform The stamped data structure includes frame_id, and time, and parent_id already. More...

void	sendTransform (const std::vector< geometry_msgs::TransformStamped > &transforms)
	Send a vector of TransformStamped messages The stamped data structure includes frame_id, and time, and parent_id already. More...

	TransformBroadcaster ()
	Constructor (needs a ros::Node reference) More...

Private Attributes
ros::NodeHandle	node_
	Internal reference to ros::Node. More...

ros::Publisher	publisher_

Detailed Description

This class provides an easy way to publish coordinate frame transform information.
It will handle all the messaging and stuffing of messages. And the function prototypes lay out all the necessary data needed for each message.

Definition at line 48 of file transform_broadcaster.h.

Constructor & Destructor Documentation

◆ TransformBroadcaster()

tf2_ros::TransformBroadcaster::TransformBroadcaster ( )

Constructor (needs a ros::Node reference)

Definition at line 40 of file transform_broadcaster.cpp.

Member Function Documentation

◆ sendTransform() [1/2]

void tf2_ros::TransformBroadcaster::sendTransform ( const geometry_msgs::TransformStamped & transform )

Send a StampedTransform The stamped data structure includes frame_id, and time, and parent_id already.

Send a vector of StampedTransforms The stamped data structure includes frame_id, and time, and parent_id already.

Send a TransformStamped message The stamped data structure includes frame_id, and time, and parent_id already.

Definition at line 45 of file transform_broadcaster.cpp.

◆ sendTransform() [2/2]

void tf2_ros::TransformBroadcaster::sendTransform ( const std::vector< geometry_msgs::TransformStamped > & transforms )

Send a vector of TransformStamped messages The stamped data structure includes frame_id, and time, and parent_id already.

Definition at line 53 of file transform_broadcaster.cpp.

Member Data Documentation

◆ node_

ros::NodeHandle tf2_ros::TransformBroadcaster::node_

private

Internal reference to ros::Node.

Definition at line 71 of file transform_broadcaster.h.

◆ publisher_

ros::Publisher tf2_ros::TransformBroadcaster::publisher_