en/latest/model__tf__publisher_8h_source.html

 /*
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  * @copyright Copyright 2017 Avidbots Corp.
  * @name    model_tf_publisher.h
  * @brief   Publish tf in robots
  * @author  Chunshang Li
  *
  * Software License Agreement (BSD License)
  *
  *  Copyright (c) 2017, Avidbots Corp.
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 #include <flatland_plugins/update_timer.h>
 #include <flatland_server/model_plugin.h>
 #include <flatland_server/timekeeper.h>
 #include <ros/ros.h>
 #include <tf/transform_broadcaster.h>

 #ifndef FLATLAND_PLUGINS_MODEL_TF_PUBLISHER_H
 #define FLATLAND_PLUGINS_MODEL_TF_PUBLISHER_H

 using namespace flatland_server;

 namespace flatland_plugins {

 class ModelTfPublisher : public ModelPlugin {
  public:
   std::string world_frame_id_;
   bool publish_tf_world_;
   std::vector<Body *> excluded_bodies_;
   Body *reference_body_;
   double update_rate_;

   tf::TransformBroadcaster tf_broadcaster;
   UpdateTimer update_timer_;

   void OnInitialize(const YAML::Node &config) override;

   void BeforePhysicsStep(const Timekeeper &timekeeper) override;
 };
 };

 #endif
flatland_plugins::ModelTfPublisher
Definition: model_tf_publisher.h:64

flatland_plugins
Definition: dummy_model_plugin.h:59

flatland_plugins::ModelTfPublisher::update_rate_
double update_rate_
publish rate
Definition: model_tf_publisher.h:70

flatland_server
Definition: body.h:55

flatland_plugins::ModelTfPublisher::tf_broadcaster
tf::TransformBroadcaster tf_broadcaster
For publish ROS TF.
Definition: model_tf_publisher.h:72

flatland_plugins::ModelTfPublisher::world_frame_id_
std::string world_frame_id_
name of the world frame id
Definition: model_tf_publisher.h:66

flatland_plugins::ModelTfPublisher::publish_tf_world_
bool publish_tf_world_
if to publish the world position of the bodies
Definition: model_tf_publisher.h:67

flatland_server::Timekeeper
Definition: timekeeper.h:55

flatland_server::ModelPlugin
Definition: model_plugin.h:64

flatland_server::Body
Definition: body.h:61

flatland_plugins::ModelTfPublisher::update_timer_
UpdateTimer update_timer_
for managing update rate
Definition: model_tf_publisher.h:73

flatland_plugins::ModelTfPublisher::excluded_bodies_
std::vector< Body * > excluded_bodies_
list of bodies to ignore
Definition: model_tf_publisher.h:68

flatland_plugins::ModelTfPublisher::reference_body_
Body * reference_body_
body used as a reference to other bodies
Definition: model_tf_publisher.h:69

flatland_plugins::UpdateTimer
Definition: update_timer.h:55