18#include <tf2_ros/transform_broadcaster.h>
22 namespace std_ph = std::placeholders;
25 : carma_ros2_utils::CarmaLifecycleNode(options)
37 tf2_ros::TransformBroadcaster tf_broadcaster(shared_from_this());
42 pose_sub = create_subscription<geometry_msgs::msg::Pose>(
"pose_to_tf", 50,
44 pose_stamped_sub = create_subscription<geometry_msgs::msg::PoseStamped>(
"pose_stamped_to_tf", 50,
46 pose_with_cov_sub = create_subscription<geometry_msgs::msg::PoseWithCovariance>(
"pose_with_cov_to_tf", 50,
48 pose_with_cov_stamped_sub = create_subscription<geometry_msgs::msg::PoseWithCovarianceStamped>(
"pose_with_cov_stamped_to_tf", 50,
52 return CallbackReturn::SUCCESS;
57#include "rclcpp_components/register_node_macro.hpp"
Primary logic class for the PoseToTF2 node.
void poseStampedCallback(geometry_msgs::msg::PoseStamped::UniquePtr msg)
Callback for new pose stamped messages.
void poseWithCovarianceStampedCallback(geometry_msgs::msg::PoseWithCovarianceStamped::UniquePtr msg)
Callback for new pose stamped messages.
void poseWithCovarianceCallback(geometry_msgs::msg::PoseWithCovariance::UniquePtr msg)
Callback for new pose with covariance messages.
void poseCallback(geometry_msgs::msg::Pose::UniquePtr msg)
Callback for new pose stamped messages.
The class is responsible for processing pose to tf conversion.
std::shared_ptr< PoseToTF2 > pose_to_tf_worker_
carma_ros2_utils::SubPtr< geometry_msgs::msg::PoseWithCovarianceStamped > pose_with_cov_stamped_sub
carma_ros2_utils::SubPtr< geometry_msgs::msg::PoseWithCovariance > pose_with_cov_sub
PoseToTfNode(const rclcpp::NodeOptions &)
PoseToTfNode constructor.
carma_ros2_utils::SubPtr< geometry_msgs::msg::PoseStamped > pose_stamped_sub
carma_ros2_utils::SubPtr< geometry_msgs::msg::Pose > pose_sub
carma_ros2_utils::CallbackReturn handle_on_configure(const rclcpp_lifecycle::State &)
Stuct containing the frame configuration values for pose_to_tf.
std::string default_parent_frame