tf2_ros.transform_broadcaster module

class tf2_ros.transform_broadcaster.TransformBroadcaster[source]

Bases: object

TransformBroadcaster sends transforms.

This is a convenient way to send transform updates on the /tf message topic.

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

Construct the TransformBroadcaster.

Parameters:

  • node – The ROS 2 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]

Send a transform, or a list of transforms, to the associated Buffer.

Parameters:

transform – A transform or list of transforms to send.