Class TFVisualTools

• Defined in File tf_visual_tools.hpp

Class Documentation

class TFVisualTools

Public Functions

TFVisualTools(const rclcpp::Node::SharedPtr &node, double loop_hz = 2)

Constructor.

Parameters:

• node – - a pointer to a rclcpp::Node

• loop_hz – - how often tf is published

bool publishTransform(const Eigen::Isometry3d &transform, const std::string &from_frame, const std::string &to_frame)

Visualize transforms in Rviz, etc.

Returns:

true on success

void clearAllTransforms()

Clear all transforms.