.. _program_listing_file__tmp_ws_src_depthai-ros_depthai_bridge_include_depthai_bridge_TFPublisher.hpp:

Program Listing for File TFPublisher.hpp
========================================

|exhale_lsh| :ref:`Return to documentation for file <file__tmp_ws_src_depthai-ros_depthai_bridge_include_depthai_bridge_TFPublisher.hpp>` (``/tmp/ws/src/depthai-ros/depthai_bridge/include/depthai_bridge/TFPublisher.hpp``)

.. |exhale_lsh| unicode:: U+021B0 .. UPWARDS ARROW WITH TIP LEFTWARDS

.. code-block:: cpp

   #pragma once
   #include "depthai-shared/common/CameraFeatures.hpp"
   #include "depthai/device/CalibrationHandler.hpp"
   #include "geometry_msgs/msg/quaternion.hpp"
   #include "geometry_msgs/msg/transform_stamped.hpp"
   #include "nlohmann/json.hpp"
   #include "rclcpp/node.hpp"
   #include "rclcpp/parameter_client.hpp"
   #include "tf2_ros/static_transform_broadcaster.h"
   
   namespace dai {
   namespace ros {
   class TFPublisher {
      public:
       explicit TFPublisher(rclcpp::Node* node,
                            const dai::CalibrationHandler& calHandler,
                            const std::vector<dai::CameraFeatures>& camFeatures,
                            const std::string& camName,
                            const std::string& camModel,
                            const std::string& baseFrame,
                            const std::string& parentFrame,
                            const std::string& camPosX,
                            const std::string& camPosY,
                            const std::string& camPosZ,
                            const std::string& camRoll,
                            const std::string& camPitch,
                            const std::string& camYaw,
                            const std::string& imuFromDescr,
                            const std::string& customURDFLocation,
                            const std::string& customXacroArgs);
       std::string getURDF();
       geometry_msgs::msg::Quaternion quatFromRotM(nlohmann::json rotMatrix);
       geometry_msgs::msg::Vector3 transFromExtr(nlohmann::json translation);
   
      private:
       void convertModelName();
       std::string prepareXacroArgs();
       void publishDescription();
       void publishCamTransforms(nlohmann::json camData, rclcpp::Node* node);
       void publishImuTransform(nlohmann::json json, rclcpp::Node* node);
       bool modelNameAvailable();
       std::string getCamSocketName(int socketNum);
       std::unique_ptr<rclcpp::AsyncParametersClient> _paramClient;
       std::shared_ptr<tf2_ros::StaticTransformBroadcaster> _tfPub;
       std::string _camName;
       std::string _camModel;
       std::string _baseFrame;
       std::string _parentFrame;
       std::string _camPosX;
       std::string _camPosY;
       std::string _camPosZ;
       std::string _camRoll;
       std::string _camPitch;
       std::string _camYaw;
       std::string _imuFromDescr;
       std::string _customURDFLocation;
       std::string _customXacroArgs;
       std::vector<dai::CameraFeatures> _camFeatures;
       rclcpp::Logger _logger;
       const std::unordered_map<dai::CameraBoardSocket, std::string> _socketNameMap = {
           {dai::CameraBoardSocket::AUTO, "rgb"},
           {dai::CameraBoardSocket::CAM_A, "rgb"},
           {dai::CameraBoardSocket::CAM_B, "left"},
           {dai::CameraBoardSocket::CAM_C, "right"},
           {dai::CameraBoardSocket::CAM_D, "left_back"},
           {dai::CameraBoardSocket::CAM_E, "right_back"},
       };
   };
   }  // namespace ros
   }  // namespace dai