Class StaticTransformBroadcaster

Class Documentation

class StaticTransformBroadcaster

Broadcasts static transforms via Agnocast zero-copy IPC.

Static transforms are transforms that do not change over time (e.g., sensor mounts). This class accumulates all static transforms and republishes them together, using transient_local QoS so late-joining subscribers receive all transforms.

Public Functions

inline explicit StaticTransformBroadcaster(agnocast::Node &node, const rclcpp::QoS &qos = tf2_ros::StaticBroadcasterQoS(), const agnocast::PublisherOptions &options = []() { agnocast::PublisherOptions options;options.qos_overriding_options=rclcpp::QosOverridingOptions{ rclcpp::QosPolicyKind::Depth, rclcpp::QosPolicyKind::History, rclcpp::QosPolicyKind::Reliability};return options;}())

Constructor.

Parameters:

  • node – Reference to an agnocast::Node

  • qos – QoS settings for the publisher (default: depth=1, transient_local)

  • options – Publisher options (default: enables qos_overriding for Depth/History/Reliability)

void sendTransform(const geometry_msgs::msg::TransformStamped &transform)

Send a TransformStamped message The stamped data structure includes frame_id, and time, and parent_id already.

void sendTransform(const std::vector<geometry_msgs::msg::TransformStamped> &transforms)

Send a vector of TransformStamped messages The stamped data structure includes frame_id, and time, and parent_id already.