transform_broadcaster.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#include "ros/ros.h"
#include "tf/transform_broadcaster.h"
#include "tf/transform_listener.h"

namespace tf {

TransformBroadcaster::TransformBroadcaster()
{
  publisher_ = node_.advertise<tfMessage>("/tf", 100);
  ros::NodeHandle l_nh("~");
  tf_prefix_ = getPrefixParam(l_nh);
};

void TransformBroadcaster::sendTransform(const geometry_msgs::TransformStamped & msgtf)
{
  std::vector<geometry_msgs::TransformStamped> v1;
  v1.push_back(msgtf);
  sendTransform(v1);
}

void TransformBroadcaster::sendTransform(const StampedTransform & transform)
{
  std::vector<StampedTransform> v1;
  v1.push_back(transform);
  sendTransform(v1);
} 

void TransformBroadcaster::sendTransform(const std::vector<geometry_msgs::TransformStamped> & msgtf)
{
  tfMessage message;
  for (std::vector<geometry_msgs::TransformStamped>::const_iterator it = msgtf.begin(); it != msgtf.end(); ++it)
  {
    message.transforms.push_back(*it);
    //Make sure to resolve anything published
    message.transforms.back().header.frame_id = tf::resolve(tf_prefix_, message.transforms.back().header.frame_id);
    message.transforms.back().child_frame_id = tf::resolve(tf_prefix_, message.transforms.back().child_frame_id);
  }
  publisher_.publish(message);
}

void TransformBroadcaster::sendTransform(const std::vector<StampedTransform> & transforms)
{
  std::vector<geometry_msgs::TransformStamped> msgtfs;
  for (std::vector<StampedTransform>::const_iterator it = transforms.begin(); it != transforms.end(); ++it)
  {
    geometry_msgs::TransformStamped msgtf;
    transformStampedTFToMsg(*it, msgtf);
    msgtfs.push_back(msgtf);

  }
  sendTransform(msgtfs);
} 
  



}