Source code for tf2_ros.transform_broadcaster

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from typing import Optional
from typing import Union
from typing import List

from rclpy.node import Node
from rclpy.qos import QoSProfile
from tf2_msgs.msg import TFMessage
from geometry_msgs.msg import TransformStamped


[docs] class TransformBroadcaster: """ :class:`TransformBroadcaster` is a convenient way to send transformation updates on the ``"/tf"`` message topic. """
[docs] def __init__( self, node: Node, qos: Optional[Union[QoSProfile, int]] = None ) -> None: """ .. function:: __init__(node, qos=None) Constructor. :param node: The ROS2 node. :param qos: A QoSProfile or a history depth to apply to the publisher. """ if qos is None: qos = QoSProfile(depth=100) self.pub_tf = node.create_publisher(TFMessage, "/tf", qos)
[docs] def sendTransform( self, transform: Union[TransformStamped, List[TransformStamped]] ) -> None: """ Send a transform, or a list of transforms, to the Buffer associated with this TransformBroadcaster. :param transform: A transform or list of transforms to send. """ if not isinstance(transform, list): if hasattr(transform, '__iter__'): transform = list(transform) else: transform = [transform] self.pub_tf.publish(TFMessage(transforms=transform))