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.


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

  •    1 tf::TransformBroadcaster();

Sending transforms

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

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

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

Wiki: tf/Overview/Broadcasting Transforms (last edited 2010-01-12 04:15:16 by KenConley)