tf API Overview: Data Types | Transformations and Frames | Broadcasting Transforms | Using Published Transforms | Exceptions

Broadcasting Transforms

To broadcast transforms within a node, we recommend using the tf::TransformBroadcaster.

Constructor

tf::TransformBroadcaster has a no argument constructor, e.g.:

• Toggle line numbers

     1 tf::TransformBroadcaster();
  

Sending transforms

To send a transform call sendTransform() with a fully populated transform.

• Toggle line numbers

     1   void sendTransform(const StampedTransform & transform);
     2   void sendTransform(const geometry_msgs::TransformStamped & transform);
  

For example usage, see the tutorials (c++ | python)