Package tf :: Module broadcaster :: Class TransformBroadcaster

Class TransformBroadcaster


:class:`TransformBroadcaster` is a convenient way to send transformation updates on the ``"/tf"`` message topic.

Instance Methods

[hide private]

__init__(self)

source code

sendTransform(self, translation, rotation, time, child, parent)
Broadcast the transformation from tf frame child to parent on ROS topic "/tf". source code

Method Details

[hide private]

sendTransform(self, translation, rotation, time, child, parent)

source code

Broadcast the transformation from tf frame child to parent on ROS topic "/tf".

Parameters:

translation - the translation of the transformtion as a tuple (x, y, z)
rotation - the rotation of the transformation as a tuple (x, y, z, w)
time - the time of the transformation, as a rospy.Time()
child - child frame in tf, string
parent - parent frame in tf, string