transform_broadcaster.h
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34 
35 #ifndef ROS_TRANSFORM_BROADCASTER_H_
36 #define ROS_TRANSFORM_BROADCASTER_H_
37 
38 #include "ros.h"
39 #include "tfMessage.h"
40 
41 namespace tf
42 {
43 
44 class TransformBroadcaster
45 {
46 public:
47  TransformBroadcaster() : publisher_("/tf", &internal_msg) {}
48 
49  void init(ros::NodeHandle &nh)
50  {
51  nh.advertise(publisher_);
52  }
53 
54  void sendTransform(geometry_msgs::TransformStamped &transform)
55  {
56  internal_msg.transforms_length = 1;
57  internal_msg.transforms = &transform;
58  publisher_.publish(&internal_msg);
59  }
60 
61 private:
62  tf::tfMessage internal_msg;
63  ros::Publisher publisher_;
64 };
65 
66 }
67 
68 #endif
69 
void publish(const boost::shared_ptr< M > &message) const
void sendTransform(const StampedTransform &transform)
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)


rosserial_client
Author(s): Michael Ferguson, Adam Stambler
autogenerated on Mon Jun 10 2019 14:53:19