ROS2::ROS2Transform Class Reference

#include <ROS2Transform.h>

Public Member Functions
	ROS2Transform (AZStd::string parentFrame, AZStd::string childFrame, bool isDynamic)
void	Publish (const AZ::Transform &transform)

Detailed Description

Publishes transforms as standard ROS2 tf2 messages. Static transforms are published once.

Note

This class is already used through ROS2FrameComponent.

Constructor & Destructor Documentation

ROS2Transform()

ROS2::ROS2Transform::ROS2Transform	(	AZStd::string	parentFrame,
		AZStd::string	childFrame,
		bool	isDynamic
	)

Create a transform between given frames.

Parameters

parentFrame	id of parent frame of transformation.
childFrame	id of child frame of transformation.
isDynamic	whether the transformation is dynamic (should be computed every frame) or static (only once).

Member Function Documentation

Publish()

void ROS2::ROS2Transform::Publish

(

const AZ::Transform &

transform

)

Construct and delegate publishing of a transform according to members' values.

Parameters

transform

AZ::Transform with current transformation between m_parentFrame and m_childFrame.

Note

The actual publishing is done by singleton tf broadcasters.

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The documentation for this class was generated from the following file:

• Gems/ROS2/Code/Include/ROS2/Frame/ROS2Transform.h