transform_broadcaster.cpp

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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#include "ros/ros.h"
#include "tf2_msgs/TFMessage.h"
#include "tf2_ros/transform_broadcaster.h"

namespace tf2 {

TransformBroadcaster::TransformBroadcaster()
{
  publisher_ = node_.advertise<tf2_msgs::TFMessage>("/tf", 100);
};

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


void TransformBroadcaster::sendTransform(const std::vector<geometry_msgs::TransformStamped> & msgtf)
{
  tf2_msgs::TFMessage message;
  for (std::vector<geometry_msgs::TransformStamped>::const_iterator it = msgtf.begin(); it != msgtf.end(); ++it)
  {
    message.transforms.push_back(*it);
  }
  publisher_.publish(message);
}


}