StaticTransformBroadcaster QML Type

Publishes fixed coordinate-frame transforms on the latched /tf_static. More...

• List of all members, including inherited members

Properties

• transforms : list<transformStamped>

Methods

• void sendTransform(transformStamped transform)
• void sendTransforms(list<transformStamped> transforms)

Detailed Description

StaticTransformBroadcaster wraps tf2_ros::StaticTransformBroadcaster. Use it for transforms that do not change at runtime — typically sensor mounting offsets read from a URDF (e.g. base_link to laser_frame).

Unlike TransformBroadcaster, you call sendTransform once. The message is published with transient-local (latched) durability on /tf_static, so a FrameTransformer (or any tf2 listener) that starts after the broadcaster still receives it. Successive calls accumulate: each call republishes all previously sent static transforms plus the new ones.

See also TransformBroadcaster and FrameTransformer.

Property Documentation

transforms : list<transformStamped>

The static transforms to latch on /tf_static. Assigning this property publishes them immediately if the broadcaster is connected to a Node, and they are also (re)published automatically whenever the node connection is (re)established. This is the declarative way to publish fixed transforms — no need to call sendTransform from Component.onCompleted, which would race with node initialization.

Method Documentation

void sendTransform(transformStamped transform)

Latches a single static transform on /tf_static. Does nothing if the broadcaster is not yet connected to a Node.

void sendTransforms(list<transformStamped> transforms)

Latches several static transforms on /tf_static in a single message.