Source code for tf2_ros.static_transform_broadcaster

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

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


[docs] class StaticTransformBroadcaster: """ :class:`StaticTransformBroadcaster` sends static transforms. This is a convenient way to send static transforms on the `/tf_static` message topic. """
[docs] def __init__(self, node: Node, qos: Optional[Union[QoSProfile, int]] = None) -> None: """ Construct the StaticTransformBroadcaster. :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=1, durability=DurabilityPolicy.TRANSIENT_LOCAL, history=HistoryPolicy.KEEP_LAST, ) self.pub_tf = node.create_publisher(TFMessage, '/tf_static', qos) self.net_message = TFMessage() self._child_frame_ids = set()
[docs] def sendTransform(self, transform: Union[TransformStamped, List[TransformStamped]]) -> None: if not isinstance(transform, list): if hasattr(transform, '__iter__'): transform = list(transform) else: transform = [transform] for t_in in transform: if t_in.child_frame_id not in self._child_frame_ids: self._child_frame_ids.add(t_in.child_frame_id) self.net_message.transforms.append(t_in) self.pub_tf.publish(self.net_message)