tf_rt_broadcaster.h

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//
// Created by qiayuan on 1/3/21.
//
 
#pragma once
 
#include <ros/ros.h>
#include <tf2_msgs/TFMessage.h>
#include <geometry_msgs/TransformStamped.h>
#include <realtime_tools/realtime_publisher.h>
 
namespace rm_common
{
class TfRtBroadcaster
{
public:
  TfRtBroadcaster() = default;
  virtual void init(ros::NodeHandle& root_nh);
  virtual void sendTransform(const geometry_msgs::TransformStamped& transform);
  virtual void sendTransform(const std::vector<geometry_msgs::TransformStamped>& transforms);
 
protected:
  ros::NodeHandle node_;
  std::shared_ptr<realtime_tools::RealtimePublisher<tf2_msgs::TFMessage>> realtime_pub_{};
};
 
class StaticTfRtBroadcaster : public TfRtBroadcaster
{
public:
  void init(ros::NodeHandle& root_nh) override;
  void sendTransform(const geometry_msgs::TransformStamped& transform) override;
  void sendTransform(const std::vector<geometry_msgs::TransformStamped>& transforms) override;
 
private:
  tf2_msgs::TFMessage net_message_{};
};
 
}  // namespace rm_common