static_transform_broadcaster.cpp
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29 
30 
34 #include "ros/ros.h"
35 #include "tf2_msgs/TFMessage.h"
37 
38 namespace tf2_ros {
39 
41 {
42  publisher_ = node_.advertise<tf2_msgs::TFMessage>("/tf_static", 100, true);
43 };
44 
45 void StaticTransformBroadcaster::sendTransform(const geometry_msgs::TransformStamped & msgtf)
46 {
47  std::vector<geometry_msgs::TransformStamped> v1;
48  v1.push_back(msgtf);
49  sendTransform(v1);
50 }
51 
52 
53 void StaticTransformBroadcaster::sendTransform(const std::vector<geometry_msgs::TransformStamped> & msgtf)
54 {
55  for (std::vector<geometry_msgs::TransformStamped>::const_iterator it_in = msgtf.begin(); it_in != msgtf.end(); ++it_in)
56  {
57  bool match_found = false;
58  for (std::vector<geometry_msgs::TransformStamped>::iterator it_msg = net_message_.transforms.begin(); it_msg != net_message_.transforms.end(); ++it_msg)
59  {
60  if (it_in->child_frame_id == it_msg->child_frame_id)
61  {
62  *it_msg = *it_in;
63  match_found = true;
64  break;
65  }
66  }
67  if (! match_found)
68  net_message_.transforms.push_back(*it_in);
69  }
70 
72 }
73 
74 
75 }
76 
77 
void publish(const boost::shared_ptr< M > &message) const
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
StaticTransformBroadcaster()
Constructor (needs a ros::Node reference)
Definition: buffer.h:42
void sendTransform(const geometry_msgs::TransformStamped &transform)
Send a TransformStamped message The stamped data structure includes frame_id, and time...
ros::NodeHandle node_
Internal reference to ros::Node.


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Mon Jun 10 2019 12:25:55