transform_broadcaster.h

00001 /*
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00034 
00035 #ifndef ROS_TRANSFORM_BROADCASTER_H_
00036 #define ROS_TRANSFORM_BROADCASTER_H_
00037 
00038 #include "ros.h"
00039 #include "tfMessage.h"
00040 
00041 namespace tf
00042 {
00043 
00044 class TransformBroadcaster
00045 {
00046 public:
00047   TransformBroadcaster() : publisher_("/tf", &internal_msg) {}
00048 
00049   void init(ros::NodeHandle &nh)
00050   {
00051     nh.advertise(publisher_);
00052   }
00053 
00054   void sendTransform(geometry_msgs::TransformStamped &transform)
00055   {
00056     internal_msg.transforms_length = 1;
00057     internal_msg.transforms = &transform;
00058     publisher_.publish(&internal_msg);
00059   }
00060 
00061 private:
00062   tf::tfMessage internal_msg;
00063   ros::Publisher publisher_;
00064 };
00065 
00066 }
00067 
00068 #endif
00069