Class TransformBroadcaster

Defined in File transform_broadcaster.h

Class Documentation

class TransformBroadcaster

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.

Public Functions

template<class NodeT, class AllocatorT = std::allocator<void>> inline TransformBroadcaster(NodeT &&node, const rclcpp::QoS &qos = DynamicBroadcasterQoS(), const rclcpp::PublisherOptionsWithAllocator<AllocatorT> &options = []() { rclcpp::PublisherOptionsWithAllocator< AllocatorT > options;options.qos_overriding_options=rclcpp::QosOverridingOptions{ rclcpp::QosPolicyKind::Depth, rclcpp::QosPolicyKind::Durability, rclcpp::QosPolicyKind::History, rclcpp::QosPolicyKind::Reliability};return options;}()): Node constructor.

template<class AllocatorT = std::allocator<void>> inline TransformBroadcaster(rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters, rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics, const rclcpp::QoS &qos = DynamicBroadcasterQoS(), const rclcpp::PublisherOptionsWithAllocator<AllocatorT> &options = []() { rclcpp::PublisherOptionsWithAllocator< AllocatorT > options;options.qos_overriding_options=rclcpp::QosOverridingOptions{ rclcpp::QosPolicyKind::Depth, rclcpp::QosPolicyKind::Durability, rclcpp::QosPolicyKind::History, rclcpp::QosPolicyKind::Reliability};return options;}()): Node interfaces constructor.

TF2_ROS_PUBLIC void sendTransform (const geometry_msgs::msg::TransformStamped &transform)

Send a TransformStamped message.

The transform ʰTₐ added is from child_frame_id, a to header.frame_id, h. That is, position in child_frame_id ᵃp can be transformed to position in header.frame_id ʰp such that ʰp = ʰTₐ ᵃp .

TF2_ROS_PUBLIC void sendTransform (const std::vector< geometry_msgs::msg::TransformStamped > &transforms)

Send a vector of TransformStamped messages.

The transforms ʰTₐ added are from child_frame_id, a to header.frame_id, h. That is, position in child_frame_id ᵃp can be transformed to position in header.frame_id ʰp such that ʰp = ʰTₐ ᵃp .