Description

Publishes transforms as tf2_msgs/msg/TFMessage on the "/tf" topic (the topic tf2 consumers expect).

#include <ChROSTFHandler.h>

Inherits chrono::ros::ChROSHandler.

Public Member Functions
	ChROSTFHandler (double update_rate)

virtual bool	Initialize (ChROSBridge &bridge) override
	Creates the /tf publisher.

void	AddTransform (std::shared_ptr< chrono::ChBody > parent, const std::string &parent_frame_id, std::shared_ptr< chrono::ChBody > child, const std::string &child_frame_id)
	Publish a transform computed each tick from two bodies (useful when the two bodies are not connected by a link). More...

void	AddTransform (std::shared_ptr< chrono::ChBody > parent, const std::string &parent_frame_id, chrono::ChFrame< double > child_frame, const std::string &child_frame_id)
	Publish a fixed transform between a parent body and a child frame expressed in the parent's reference frame.

Protected Member Functions
virtual void	Tick (double time) override
	Recompute and publish all registered transforms.

Constructor & Destructor Documentation

chrono::ros::ChROSTFHandler::ChROSTFHandler ( double update_rate )

Parameters

update_rate publish rate (Hz, sim time); 0 = every step.

void chrono::ros::ChROSTFHandler::AddTransform	(	std::shared_ptr< chrono::ChBody >	parent,
		const std::string &	parent_frame_id,
		std::shared_ptr< chrono::ChBody >	child,
		const std::string &	child_frame_id
	)

Publish a transform computed each tick from two bodies (useful when the two bodies are not connected by a link).

When a frame id is empty it defaults to the corresponding body's name.

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