tf2_ros.static_transform_broadcaster module

class tf2_ros.static_transform_broadcaster.StaticTransformBroadcaster[source]

Bases: object

StaticTransformBroadcaster is a convenient way to send static transformation on the "/tf_static" message topic.

__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 | List[geometry_msgs.msg.TransformStamped]) → None[source]