transform_broadcaster.h

#ifndef TRANSFORM_BROADCASTER_H
#define TRANSFORM_BROADCASTER_H
 
#include <mutex>
 
#include <rclcpp/rclcpp.hpp>
#include <tf2_ros/transform_broadcaster.hpp>
 
namespace mrs_lib
{
 
  /* TransformBroadcaster //{ */

  class TransformBroadcaster
  {
 
  public:
    struct NotInitializedException : public std::exception
    {
      const char* what() const throw()
      {
        return "TransformBroadcaster: not initialized! Call the constructor and pass the node pointer.";
      }
    };

    TransformBroadcaster();

    TransformBroadcaster(const rclcpp::Node::SharedPtr& node);

    TransformBroadcaster& operator=(TransformBroadcaster&& other);

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

    void sendTransform(const std::vector<geometry_msgs::msg::TransformStamped>& transforms);
 
  private:
    // guards last_messages_
    std::mutex mutex_;
 
    rclcpp::Node::SharedPtr node_;

    std::shared_ptr<tf2_ros::TransformBroadcaster> broadcaster_;

    std::map<std::string, rclcpp::Time> last_messages_;
  };
  //}
 
} // namespace mrs_lib
 
#endif // TRANSFORM_BROADCASTER_H