tf2/Tutorials/Migration/TransformBroadcaster

Migrating a TransformBroadcaster from tf to tf2

Description: This is a guide for converting a tf TransformBroadcaster class to a tf2 Listener class

Tutorial Level: INTERMEDIATE

Contents

The TransformBroadcaster uses the public API only and populates an independently allocated tf2 Buffer.

Depend on tf package.

   1 #include "tf/transform_broadcaster.h"
   2 tf::TransformBroadcaster tfb;

Depend on tf2_ros pacakage.

   1 #include "tf2_ros/transform_broadcaster.h"
   2 tf2::TransformBroadcaster tfb;

Depend on tf package.

   1 import tf
   2 tfl = tf.TransformBroadcaster()

Depend on tf2_ros pacakage.

   1 import tf2_ros
   2 tfb = tf2_ros.TransformBroadcaster()