transform_broadcaster.py
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00032 
00033 import rospy
00034 from tf2_msgs.msg import TFMessage
00035 from geometry_msgs.msg import TransformStamped
00036 
00037 
00038 class TransformBroadcaster:
00039     """
00040     :class:`TransformBroadcaster` is a convenient way to send transformation updates on the ``"/tf"`` message topic.
00041     """
00042 
00043     def __init__(self):
00044         self.pub_tf = rospy.Publisher("/tf", TFMessage)
00045 
00046     def sendTransform(self, transform):
00047         if not isinstance(transform, list):
00048             transform = [transform]
00049         self.pub_tf.publish(TFMessage(transform))
00050 
00051 
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tf2_ros
Author(s): Wim Meeussen, Eitan Marder-Eppstein
autogenerated on Mon Aug 19 2013 10:27:02