mrs_lib::TransformBroadcaster Class Reference

Wrapper for the tf2_ros::TransformBroadcaster. With each sendTransform() command, the message is checked against the last message with the same frame IDs. If the transform was already published in this ros::Time step, then the transform is skipped. Prevents endless stream of warnings from spamming the console output. More...

#include <transform_broadcaster.h>

Classes
struct	NotInitializedException
	is thrown when calculating of heading is not possible due to atan2 exception More...

Public Member Functions
	TransformBroadcaster ()
	constructor, internally starts the TransformBroadcaster
	TransformBroadcaster (const rclcpp::Node::SharedPtr &node)
	constructor, internally starts the TransformBroadcaster
void	sendTransform (const geometry_msgs::msg::TransformStamped &transform)
	check if the transform is newer than the last published one and publish it. Transform is skipped if a duplicit timestamp is found
void	sendTransform (const std::vector< geometry_msgs::msg::TransformStamped > &transforms)
	check if the transforms are newer than the last published ones and publish them. A transform is skipped if a duplicit timestamp is found

Detailed Description

Wrapper for the tf2_ros::TransformBroadcaster. With each sendTransform() command, the message is checked against the last message with the same frame IDs. If the transform was already published in this ros::Time step, then the transform is skipped. Prevents endless stream of warnings from spamming the console output.

Member Function Documentation

sendTransform() [1/2]

void mrs_lib::TransformBroadcaster::sendTransform

(

const geometry_msgs::msg::TransformStamped &

transform

)

check if the transform is newer than the last published one and publish it. Transform is skipped if a duplicit timestamp is found

Parameters

transform

to be published

sendTransform() [2/2]

void mrs_lib::TransformBroadcaster::sendTransform

(

const std::vector< geometry_msgs::msg::TransformStamped > &

transforms

)

check if the transforms are newer than the last published ones and publish them. A transform is skipped if a duplicit timestamp is found

Parameters

transforms

vector of transforms to be published

---

The documentation for this class was generated from the following files:

• include/mrs_lib/transform_broadcaster.h
• src/transform_broadcaster/transform_broadcaster.cpp