modify for Hydro version
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Diff: tf/transform_broadcaster.h
- Revision:
- 5:8cd48977ec68
- Parent:
- 4:684f39d0c346
- Child:
- 6:3c54bc7badd4
--- a/tf/transform_broadcaster.h Wed Feb 29 23:00:21 2012 +0000 +++ /dev/null Thu Jan 01 00:00:00 1970 +0000 @@ -1,67 +0,0 @@ -/* - * Software License Agreement (BSD License) - * - * Copyright (c) 2011, Willow Garage, Inc. - * All rights reserved. - * - * Redistribution and use in source and binary forms, with or without - * modification, are permitted provided that the following conditions - * are met: - * - * * Redistributions of source code must retain the above copyright - * notice, this list of conditions and the following disclaimer. - * * Redistributions in binary form must reproduce the above - * copyright notice, this list of conditions and the following - * disclaimer in the documentation and/or other materials provided - * with the distribution. - * * Neither the name of Willow Garage, Inc. nor the names of its - * contributors may be used to endorse or promote prducts derived - * from this software without specific prior written permission. - * - * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS - * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT - * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS - * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE - * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, - * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, - * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; - * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER - * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT - * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN - * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE - * POSSIBILITY OF SUCH DAMAGE. - */ - -#ifndef ROS_TRANSFORM_BROADCASTER_H_ -#define ROS_TRANSFORM_BROADCASTER_H_ - -#include "tfMessage.h" - -namespace tf -{ - - class TransformBroadcaster - { - public: - TransformBroadcaster() : publisher_("tf", &internal_msg) {} - - void init(ros::NodeHandle &nh) - { - nh.advertise(publisher_); - } - - void sendTransform(geometry_msgs::TransformStamped &transform) - { - internal_msg.transforms_length = 1; - internal_msg.transforms = &transform; - publisher_.publish(&internal_msg); - } - - private: - tf::tfMessage internal_msg; - ros::Publisher publisher_; - }; - -} - -#endif