Struct TfBroadcaster

pub struct TfBroadcaster { /* private fields */ }

Broadcast tf messages

Example usage:

use tf_rosrust::{TfBroadcaster, TransformStamped};

rosrust::init("broadcaster");
let broadcaster = TfBroadcaster::new();

let rate = rosrust::rate(100.0);
let mut tf = TransformStamped::default();
tf.header.frame_id = "map".to_string();
tf.child_frame_id = "tf_rosrust".to_string();
tf.transform.rotation.w = 1.0;
let mut theta = 0.01_f64;
while rosrust::is_ok() {
    theta += 0.01;
    tf.header.stamp = rosrust::now();
    tf.transform.translation.x = theta.sin();
    tf.transform.translation.y = theta.cos();
    broadcaster.send_transform(tf.clone()).unwrap();
    println!("{tf:?}");
    rate.sleep();
}

Implementations

impl TfBroadcaster

pub fn new() -> Self

Create a new TfBroadcaster

pub fn send_transform(&self, tf: TransformStamped) -> Result<(), TfError>

Broadcast transform

Trait Implementations

impl Default for TfBroadcaster

fn default() -> Self

Returns the “default value” for a type.