synchros2.static_transform_broadcaster module

class synchros2.static_transform_broadcaster.StaticTransformBroadcaster[source]

Bases: object

A modified tf2_ros.StaticTransformBroadcaster that stores transforms sent through it.

This matches rclcpp::StaticTransformBroadcaster behavior.

__init__(node: rclpy.node.Node, qos: rclpy.qos.QoSProfile | int | None = None) → None[source]

Constructor.

Parameters:

  • node – The ROS2 node.

  • qos – A QoSProfile or a history depth to apply to the publisher.

sendTransform(transform: geometry_msgs.msg.TransformStamped | Iterable[geometry_msgs.msg.TransformStamped]) → None[source]

Send a transform, or a list of transforms, to the Buffer associated with this TransformBroadcaster.

Parameters:

transform – A transform or list of transforms to send.