TransformBroadcaster QML Type

Publishes dynamic coordinate-frame transforms on /tf. More...

• List of all members, including inherited members

Methods

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

Detailed Description

TransformBroadcaster wraps tf2_ros::TransformBroadcaster. Place it as a child of a Node and call sendTransform with a transformStamped each time a frame moves (e.g. an odometry update). The transform's header.frameId is the parent frame, childFrameId the child, and header.stamp the time the transform is valid for.

For transforms that never change, use StaticTransformBroadcaster instead — it publishes once on the latched /tf_static topic.

See also StaticTransformBroadcaster and FrameTransformer.

Method Documentation

void sendTransform(transformStamped transform)

Broadcasts a single transform on /tf. Does nothing if the broadcaster is not yet connected to a Node.

void sendTransforms(list<transformStamped> transforms)

Broadcasts several transforms on /tf in a single message.