Class TransformBroadcaster

• Defined in File transform_broadcaster.hpp

Class Documentation

class TransformBroadcaster

This class provides an easy way to publish coordinate frame transform information using Agnocast’s zero-copy shared memory transport.

Public Functions

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

Node Constructor.

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

Send a TransformStamped message.

The transform ʰTₐ added is from child_frame_id, a to header.frame_id, h. That is, position in child_frame_id ᵃp can be transformed to position in header.frame_id ʰp such that ʰp = ʰTₐ ᵃp .

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

Send a vector of TransformStamped messages.

The transforms ʰTₐ added are from child_frame_id, a to header.frame_id, h. That is, position in child_frame_id ᵃp can be transformed to position in header.frame_id ʰp such that ʰp = ʰTₐ ᵃp .