tf2_ros.transform_broadcaster module

class tf2_ros.transform_broadcaster.TransformBroadcaster(node: rclpy.node.Node, qos: rclpy.qos.QoSProfile | int | None = None)

Bases: object

TransformBroadcaster sends transforms.

This is a convenient way to send transform updates on the /tf message topic.

sendTransform(transform: geometry_msgs.msg.TransformStamped | List[geometry_msgs.msg.TransformStamped]) → None

Send a transform, or a list of transforms, to the associated Buffer.

Parameters:

transform – A transform or list of transforms to send.