static_transform_broadcaster.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#ifndef TF2_ROS_STATICTRANSFORMBROADCASTER_H
#define TF2_ROS_STATICTRANSFORMBROADCASTER_H



#include "ros/ros.h"
#include "geometry_msgs/TransformStamped.h"
#include "tf2_msgs/TFMessage.h"

namespace tf2
{


class StaticTransformBroadcaster{
public:
  StaticTransformBroadcaster();

  void sendTransform(const geometry_msgs::TransformStamped & transform);

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

private:
  ros::NodeHandle node_;
  ros::Publisher publisher_;
  tf2_msgs::TFMessage net_message_;

};

}

#endif //TF_STATICTRANSFORMBROADCASTER_H