/usr/include/tf2_ros/static_transform_broadcaster.h is in libtf2-ros-dev 0.5.16-4.
This file is owned by root:root, with mode 0o644.
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* Copyright (c) 2008, 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 the Willow Garage, Inc. nor the names of its
* contributors may be used to endorse or promote products 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.
*/
/** \author Tully Foote */
#ifndef TF2_ROS_STATICTRANSFORMBROADCASTER_H
#define TF2_ROS_STATICTRANSFORMBROADCASTER_H
#include "ros/ros.h"
#include "geometry_msgs/TransformStamped.h"
#include "tf2_msgs/TFMessage.h"
namespace tf2_ros
{
/** \brief This class provides an easy way to publish coordinate frame transform information.
* It will handle all the messaging and stuffing of messages. And the function prototypes lay out all the
* necessary data needed for each message. */
class StaticTransformBroadcaster{
public:
/** \brief Constructor (needs a ros::Node reference) */
StaticTransformBroadcaster();
/** \brief Send a TransformStamped message
* The stamped data structure includes frame_id, and time, and parent_id already. */
void sendTransform(const geometry_msgs::TransformStamped & transform);
/** \brief Send a vector of TransformStamped messages
* The stamped data structure includes frame_id, and time, and parent_id already. */
void sendTransform(const std::vector<geometry_msgs::TransformStamped> & transforms);
private:
/// Internal reference to ros::Node
ros::NodeHandle node_;
ros::Publisher publisher_;
tf2_msgs::TFMessage net_message_;
};
}
#endif //TF_STATICTRANSFORMBROADCASTER_H
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