Source code for tf2_ros.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 QoSProfile
from tf2_msgs.msg import TFMessage


[docs] class TransformBroadcaster: """ :class:`TransformBroadcaster` sends transforms. This is a convenient way to send transform updates on the `/tf` message topic. """
[docs] def __init__( self, node: Node, qos: Optional[Union[QoSProfile, int]] = None ) -> None: """ Construct the TransformBroadcaster. :param node: The ROS 2 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 associated Buffer. :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))