static_transform_broadcaster.cpp
Go to the documentation of this file.
1 /*
2  * Copyright (c) 2008, Willow Garage, Inc.
3  * All rights reserved.
4  *
5  * Redistribution and use in source and binary forms, with or without
6  * modification, are permitted provided that the following conditions are met:
7  *
8  * * Redistributions of source code must retain the above copyright
9  * notice, this list of conditions and the following disclaimer.
10  * * Redistributions in binary form must reproduce the above copyright
11  * notice, this list of conditions and the following disclaimer in the
12  * documentation and/or other materials provided with the distribution.
13  * * Neither the name of the Willow Garage, Inc. nor the names of its
14  * contributors may be used to endorse or promote products derived from
15  * this software without specific prior written permission.
16  *
17  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
18  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
19  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
20  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
21  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
22  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
23  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
24  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
25  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
26  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
27  * POSSIBILITY OF SUCH DAMAGE.
28  */
29 
30 
34 #include "ros/ros.h"
35 #include "tf2_msgs/TFMessage.h"
37 #include <algorithm>
38 
39 namespace tf2_ros {
40 
42 {
43  publisher_ = node_.advertise<tf2_msgs::TFMessage>("/tf_static", 100, true);
44 };
45 
46 void StaticTransformBroadcaster::sendTransform(const std::vector<geometry_msgs::TransformStamped> & msgtf)
47 {
48  for (const geometry_msgs::TransformStamped& input : msgtf)
49  {
50  auto predicate = [&input](const geometry_msgs::TransformStamped existing) {
51  return input.child_frame_id == existing.child_frame_id;
52  };
53  auto existing = std::find_if(net_message_.transforms.begin(), net_message_.transforms.end(), predicate);
54 
55  if (existing != net_message_.transforms.end())
56  *existing = input;
57  else
58  net_message_.transforms.push_back(input);
59  }
60 
62 }
63 
64 }
tf2_ros::StaticTransformBroadcaster::sendTransform
void sendTransform(const geometry_msgs::TransformStamped &transform)
Send a TransformStamped message The stamped data structure includes frame_id, and time,...
Definition: static_transform_broadcaster.h:57
ros.h
ros::Publisher::publish
void publish(const boost::shared_ptr< M > &message) const
ros::NodeHandle::advertise
Publisher advertise(AdvertiseOptions &ops)
static_transform_broadcaster.h
tf2_ros::StaticTransformBroadcaster::net_message_
tf2_msgs::TFMessage net_message_
Definition: static_transform_broadcaster.h:69
tf2_ros::StaticTransformBroadcaster::publisher_
ros::Publisher publisher_
Definition: static_transform_broadcaster.h:68
tf2_ros
Definition: buffer.h:42
tf2_ros::StaticTransformBroadcaster::StaticTransformBroadcaster
StaticTransformBroadcaster()
Constructor (needs a ros::Node reference)
Definition: static_transform_broadcaster.cpp:41
tf2_ros::StaticTransformBroadcaster::node_
ros::NodeHandle node_
Internal reference to ros::Node.
Definition: static_transform_broadcaster.h:67


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Wed May 12 2021 15:52:49