transform_broadcaster.h

#ifndef TRANSFORM_BROADCASTER_H
#define TRANSFORM_BROADCASTER_H
 
#include <rclcpp/rclcpp.hpp>
#include <tf2_ros/transform_broadcaster.h>
 
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);
 
  void sendTransform(const geometry_msgs::msg::TransformStamped &transform);
 
  void sendTransform(const std::vector<geometry_msgs::msg::TransformStamped> &transforms);
 
private:
  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