static_transform_broadcaster.cpp

/*
 * Copyright (c) 2008, Willow Garage, Inc.
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 *       this software without specific prior written permission.
 *
 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
 * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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 * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
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/** \author Tully Foote */

#include "tf2_ros/static_transform_broadcaster.h"

#include <vector>

#include "geometry_msgs/msg/transform_stamped.hpp"
#include "rclcpp/rclcpp.hpp"
#include "tf2_msgs/msg/tf_message.hpp"

namespace tf2_ros
{

void StaticTransformBroadcaster::sendTransform(
  const geometry_msgs::msg::TransformStamped & msgtf)
{
  std::vector<geometry_msgs::msg::TransformStamped> v1;
  v1.push_back(msgtf);
  sendTransform(v1);
}

void StaticTransformBroadcaster::sendTransform(
  const std::vector<geometry_msgs::msg::TransformStamped> & msgtf)
{
  for (auto it_in = msgtf.begin(); it_in != msgtf.end(); ++it_in) {
    bool match_found = false;
    for (auto it_msg = net_message_.transforms.begin(); it_msg != net_message_.transforms.end();
      ++it_msg)
    {
      if (it_in->child_frame_id == it_msg->child_frame_id) {
        *it_msg = *it_in;
        match_found = true;
        break;
      }
    }
    if (!match_found) {
      net_message_.transforms.push_back(*it_in);
    }
  }

  publisher_->publish(net_message_);
}

}  // namespace tf2_ros