tf2_ros.static_transform_broadcaster module

class tf2_ros.static_transform_broadcaster.StaticTransformBroadcaster[source]

Bases: object

StaticTransformBroadcaster sends static transforms.

This is a convenient way to send static transforms on the /tf_static message topic.

__init__(node: rclpy.node.Node, qos: rclpy.qos.QoSProfile | int | None = None) → None[source]

Construct the StaticTransformBroadcaster.

Parameters:

  • node – The ROS2 node.

  • qos – A QoSProfile or a history depth to apply to the publisher.

sendTransform(transform: geometry_msgs.msg.TransformStamped | List[geometry_msgs.msg.TransformStamped]) → None[source]