Program Listing for File static_transform_broadcaster.h

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/*
 * Copyright (c) 2008, Willow Garage, Inc.
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 *       this software without specific prior written permission.
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 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
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#ifndef TF2_ROS__STATIC_TRANSFORM_BROADCASTER_H_
#define TF2_ROS__STATIC_TRANSFORM_BROADCASTER_H_

#include <memory>
#include <vector>

#include "tf2_ros/visibility_control.h"

#include "rclcpp/node_interfaces/get_node_parameters_interface.hpp"
#include "rclcpp/node_interfaces/get_node_topics_interface.hpp"
#include "rclcpp/rclcpp.hpp"
#include "geometry_msgs/msg/transform_stamped.hpp"
#include "tf2_msgs/msg/tf_message.hpp"
#include "tf2_ros/qos.hpp"

namespace tf2_ros
{

class StaticTransformBroadcaster
{
public:
  template<class NodeT, class AllocatorT = std::allocator<void>>
  StaticTransformBroadcaster(
    NodeT && node,
    const rclcpp::QoS & qos = StaticBroadcasterQoS(),
    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = [] () {
      rclcpp::PublisherOptionsWithAllocator<AllocatorT> options;
      options.qos_overriding_options = rclcpp::QosOverridingOptions{
        rclcpp::QosPolicyKind::Depth,
        rclcpp::QosPolicyKind::History,
        rclcpp::QosPolicyKind::Reliability};
      return options;
    } ())
    : StaticTransformBroadcaster(
      rclcpp::node_interfaces::get_node_parameters_interface(node),
      rclcpp::node_interfaces::get_node_topics_interface(node),
      qos,
      options)
  {}

  template<class AllocatorT = std::allocator<void>>
  StaticTransformBroadcaster(
    rclcpp::node_interfaces::NodeParametersInterface::SharedPtr node_parameters,
    rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr node_topics,
    const rclcpp::QoS & qos = StaticBroadcasterQoS(),
    const rclcpp::PublisherOptionsWithAllocator<AllocatorT> & options = [] () {
      rclcpp::PublisherOptionsWithAllocator<AllocatorT> options;
      options.qos_overriding_options = rclcpp::QosOverridingOptions{
        rclcpp::QosPolicyKind::Depth,
        rclcpp::QosPolicyKind::History,
        rclcpp::QosPolicyKind::Reliability};
      return options;
    } ())
  {
    publisher_ = rclcpp::create_publisher<tf2_msgs::msg::TFMessage>(
      node_parameters, node_topics, "/tf_static", qos, options);
  }

  TF2_ROS_PUBLIC
  void sendTransform(const geometry_msgs::msg::TransformStamped & transform);

  TF2_ROS_PUBLIC
  void sendTransform(const std::vector<geometry_msgs::msg::TransformStamped> & transforms);

private:
  rclcpp::Publisher<tf2_msgs::msg::TFMessage>::SharedPtr publisher_;
  tf2_msgs::msg::TFMessage net_message_;
};

}  // namespace tf2_ros

#endif  // TF2_ROS__STATIC_TRANSFORM_BROADCASTER_H_