niryo_libraries.tf.broadcaster.TransformBroadcaster

class documentation

class TransformBroadcaster:

TransformBroadcaster is a convenient way to send transformation updates on the "/tf" message topic.

Method	`__init__`	Undocumented
Method	`sendTransform`	Broadcast the transformation from tf frame child to parent on ROS topic `"/tf"`.
Method	`sendTransformMessage`	Broadcast the transformation from tf frame child to parent on ROS topic `"/tf"`.
Instance Variable	`tf2_broadcaster`	Undocumented

def __init__(self, queue_size=100): ¶

Undocumented

def sendTransform(self, translation, rotation, time, child, parent): ¶

Broadcast the transformation from tf frame child to parent on ROS topic "/tf".

Parameters
translation	the translation of the transformtion as a tuple (x, y, z)
rotation	the rotation of the transformation as a tuple (x, y, z, w)
time	the time of the transformation, as a rospy.Time()
child	child frame in tf, string
parent	parent frame in tf, string

def sendTransformMessage(self, transform): ¶

Broadcast the transformation from tf frame child to parent on ROS topic "/tf".

Parameters
transform	geometry_msgs.msg.TransformStamped

tf2_broadcaster = ¶

Undocumented