ROS Serial library for Mbed platforms for ROS Melodic Morenia. Check http://wiki.ros.org/rosserial_mbed/ for more information.
tf/transform_broadcaster.h@2:4480021e9f58, 2022-08-18 (annotated)
- Committer:
- howanglam3
- Date:
- Thu Aug 18 07:35:12 2022 +0000
- Revision:
- 2:4480021e9f58
- Parent:
- 0:04ac6be8229a
unchanged
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
Gary Servin |
0:04ac6be8229a | 1 | /* |
Gary Servin |
0:04ac6be8229a | 2 | * Software License Agreement (BSD License) |
Gary Servin |
0:04ac6be8229a | 3 | * |
Gary Servin |
0:04ac6be8229a | 4 | * Copyright (c) 2011, Willow Garage, Inc. |
Gary Servin |
0:04ac6be8229a | 5 | * All rights reserved. |
Gary Servin |
0:04ac6be8229a | 6 | * |
Gary Servin |
0:04ac6be8229a | 7 | * Redistribution and use in source and binary forms, with or without |
Gary Servin |
0:04ac6be8229a | 8 | * modification, are permitted provided that the following conditions |
Gary Servin |
0:04ac6be8229a | 9 | * are met: |
Gary Servin |
0:04ac6be8229a | 10 | * |
Gary Servin |
0:04ac6be8229a | 11 | * * Redistributions of source code must retain the above copyright |
Gary Servin |
0:04ac6be8229a | 12 | * notice, this list of conditions and the following disclaimer. |
Gary Servin |
0:04ac6be8229a | 13 | * * Redistributions in binary form must reproduce the above |
Gary Servin |
0:04ac6be8229a | 14 | * copyright notice, this list of conditions and the following |
Gary Servin |
0:04ac6be8229a | 15 | * disclaimer in the documentation and/or other materials provided |
Gary Servin |
0:04ac6be8229a | 16 | * with the distribution. |
Gary Servin |
0:04ac6be8229a | 17 | * * Neither the name of Willow Garage, Inc. nor the names of its |
Gary Servin |
0:04ac6be8229a | 18 | * contributors may be used to endorse or promote prducts derived |
Gary Servin |
0:04ac6be8229a | 19 | * from this software without specific prior written permission. |
Gary Servin |
0:04ac6be8229a | 20 | * |
Gary Servin |
0:04ac6be8229a | 21 | * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
Gary Servin |
0:04ac6be8229a | 22 | * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
Gary Servin |
0:04ac6be8229a | 23 | * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS |
Gary Servin |
0:04ac6be8229a | 24 | * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE |
Gary Servin |
0:04ac6be8229a | 25 | * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, |
Gary Servin |
0:04ac6be8229a | 26 | * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, |
Gary Servin |
0:04ac6be8229a | 27 | * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; |
Gary Servin |
0:04ac6be8229a | 28 | * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER |
Gary Servin |
0:04ac6be8229a | 29 | * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT |
Gary Servin |
0:04ac6be8229a | 30 | * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN |
Gary Servin |
0:04ac6be8229a | 31 | * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE |
Gary Servin |
0:04ac6be8229a | 32 | * POSSIBILITY OF SUCH DAMAGE. |
Gary Servin |
0:04ac6be8229a | 33 | */ |
Gary Servin |
0:04ac6be8229a | 34 | |
Gary Servin |
0:04ac6be8229a | 35 | #ifndef ROS_TRANSFORM_BROADCASTER_H_ |
Gary Servin |
0:04ac6be8229a | 36 | #define ROS_TRANSFORM_BROADCASTER_H_ |
Gary Servin |
0:04ac6be8229a | 37 | |
Gary Servin |
0:04ac6be8229a | 38 | #include "ros.h" |
Gary Servin |
0:04ac6be8229a | 39 | #include "tfMessage.h" |
Gary Servin |
0:04ac6be8229a | 40 | |
Gary Servin |
0:04ac6be8229a | 41 | namespace tf |
Gary Servin |
0:04ac6be8229a | 42 | { |
Gary Servin |
0:04ac6be8229a | 43 | |
Gary Servin |
0:04ac6be8229a | 44 | class TransformBroadcaster |
Gary Servin |
0:04ac6be8229a | 45 | { |
Gary Servin |
0:04ac6be8229a | 46 | public: |
Gary Servin |
0:04ac6be8229a | 47 | TransformBroadcaster() : publisher_("/tf", &internal_msg) {} |
Gary Servin |
0:04ac6be8229a | 48 | |
Gary Servin |
0:04ac6be8229a | 49 | void init(ros::NodeHandle &nh) |
Gary Servin |
0:04ac6be8229a | 50 | { |
Gary Servin |
0:04ac6be8229a | 51 | nh.advertise(publisher_); |
Gary Servin |
0:04ac6be8229a | 52 | } |
Gary Servin |
0:04ac6be8229a | 53 | |
Gary Servin |
0:04ac6be8229a | 54 | void sendTransform(geometry_msgs::TransformStamped &transform) |
Gary Servin |
0:04ac6be8229a | 55 | { |
Gary Servin |
0:04ac6be8229a | 56 | internal_msg.transforms_length = 1; |
Gary Servin |
0:04ac6be8229a | 57 | internal_msg.transforms = &transform; |
Gary Servin |
0:04ac6be8229a | 58 | publisher_.publish(&internal_msg); |
Gary Servin |
0:04ac6be8229a | 59 | } |
Gary Servin |
0:04ac6be8229a | 60 | |
Gary Servin |
0:04ac6be8229a | 61 | private: |
Gary Servin |
0:04ac6be8229a | 62 | tf::tfMessage internal_msg; |
Gary Servin |
0:04ac6be8229a | 63 | ros::Publisher publisher_; |
Gary Servin |
0:04ac6be8229a | 64 | }; |
Gary Servin |
0:04ac6be8229a | 65 | |
Gary Servin |
0:04ac6be8229a | 66 | } |
Gary Servin |
0:04ac6be8229a | 67 | |
Gary Servin |
0:04ac6be8229a | 68 | #endif |
Gary Servin |
0:04ac6be8229a | 69 |