tf2_ros.transform_broadcaster module

class tf2_ros.transform_broadcaster.TransformBroadcaster[source]

Bases: object

TransformBroadcaster is a convenient way to send transformation updates on the "/tf" message topic.

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