| 47 | namespace rviz_visual_tools |
| 48 | { |
| 49 | TFVisualTools::TFVisualTools(const rclcpp::Node::SharedPtr& node, double loop_hz) |
| 50 | : node_base_interface_(node->get_node_base_interface()) |
| 51 | , timers_interface_(node->get_node_timers_interface()) |
| 52 | , clock_interface_(node->get_node_clock_interface()) |
| 53 | , logger_(node->get_node_logging_interface()->get_logger().get_child("tf_visual_tools")) |
| 54 | { |
| 55 | rclcpp::Duration update_period = rclcpp::Duration::from_seconds(1.0 / loop_hz); |
| 56 | |
| 57 | // non_realtime_loop_ = nh_.createTimer(update_freq, &TFVisualTools::publishAllTransforms, this); |
| 58 | non_realtime_loop_ = |
| 59 | rclcpp::create_timer(node_base_interface_, timers_interface_, clock_interface_->get_clock(), |
| 60 | update_period, std::bind(&TFVisualTools::publishAllTransforms, this)); |
| 61 | // , std::placeholders::_1, std::placeholders::_2, std::placeholders::_3)); |
| 62 | |
| 63 | tf_broadcaster_ = std::make_shared<tf2_ros::TransformBroadcaster>(node); |
| 64 | |
| 65 | RCLCPP_INFO(logger_, "TFVisualTools Ready."); |
| 66 | } |
| 67 | |
| 68 | bool TFVisualTools::publishTransform(const Eigen::Isometry3d& transform, |
| 69 | const std::string& from_frame, const std::string& to_frame) |
nothing calls this directly
no outgoing calls
no test coverage detected