A TF2 listener that overrides the subscription callback to inject base footprint publisher removing Z, Pitch, and Roll for 3D state estimation but desiring a 2D frame for navigation, visualization, or other reasons. More...
#include <nav2_util/src/base_footprint_publisher.hpp>
Inheritance diagram for nav2_util::BaseFootprintPublisherListener:
Collaboration diagram for nav2_util::BaseFootprintPublisherListener:
Public Member Functions | |
| BaseFootprintPublisherListener (tf2::BufferCore &buffer, bool spin_thread, rclcpp::Node &node) | |
| void | subscription_callback (tf2_msgs::msg::TFMessage::ConstSharedPtr msg, bool is_static) override |
| Overrides TF2 subscription callback to inject base footprint publisher. | |
Protected Attributes | |
| std::shared_ptr< tf2_ros::TransformBroadcaster > | tf_broadcaster_ |
| std::string | base_link_frame_ |
| std::string | base_footprint_frame_ |
Detailed Description
A TF2 listener that overrides the subscription callback to inject base footprint publisher removing Z, Pitch, and Roll for 3D state estimation but desiring a 2D frame for navigation, visualization, or other reasons.
Definition at line 39 of file base_footprint_publisher.hpp.
The documentation for this class was generated from the following file:
- nav2_util/src/base_footprint_publisher.hpp
