Struct BridgeROS2::CachedLocalizationTf

• Defined in File BridgeROS2.h

Nested Relationships

This struct is a nested type of Class BridgeROS2.

Struct Documentation

struct CachedLocalizationTf

Latest computed localization /tf (frame_ids + transform) plus the metadata needed to re-stamp it correctly on each broadcast. useRep105 selects the stamping policy: REP-105 mode uses rosNode->now() + transform_tolerance (Nav2-style, future-dated, safe to rebroadcast because odom -> base_link carries real motion); direct mode uses myNow(scan_timestamp) (stamped at scan time, honoring publish_in_sim_time). Empty until the first localization update arrives.

Public Members

geometry_msgs::msg::TransformStamped tf

bool useRep105 = false

mrpt::Clock::time_point scan_timestamp