hairo

Dependencies:   mbed BufferedSerial

tf/transform_broadcaster.h

Committer:
garyservin
Date:
2016-12-31
Revision:
0:9e9b7db60fd5

File content as of revision 0:9e9b7db60fd5:

/* 
 * 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
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 *    notice, this list of conditions and the following disclaimer.
 *  * Redistributions in binary form must reproduce the above
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 *    with the distribution.
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 *    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
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#ifndef ROS_TRANSFORM_BROADCASTER_H_
#define ROS_TRANSFORM_BROADCASTER_H_

#include "ros.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