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", 100);
43 };
44 
45 void TransformBroadcaster::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 TransformBroadcaster::sendTransform(const std::vector<geometry_msgs::TransformStamped> & msgtf)
54 {
55  tf2_msgs::TFMessage message;
56  for (std::vector<geometry_msgs::TransformStamped>::const_iterator it = msgtf.begin(); it != msgtf.end(); ++it)
57  {
58  message.transforms.push_back(*it);
59  }
60  publisher_.publish(message);
61 }
62 
63 
64 }
65 
66 
void publish(const boost::shared_ptr< M > &message) const
TransformBroadcaster()
Constructor (needs a ros::Node reference)
Publisher advertise(const std::string &topic, uint32_t queue_size, bool latch=false)
void sendTransform(const geometry_msgs::TransformStamped &transform)
Send a StampedTransform The stamped data structure includes frame_id, and time, and parent_id already...
ros::NodeHandle node_
Internal reference to ros::Node.
Definition: buffer.h:42


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