15#ifndef AWVIZ_COMMON__TRANSFORMATION_MANAGER_HPP_
16#define AWVIZ_COMMON__TRANSFORMATION_MANAGER_HPP_
20#include <rclcpp/rclcpp.hpp>
23#include <tf2_ros/buffer.h>
24#include <tf2_ros/transform_listener.h>
29#include <unordered_map>
46 rclcpp::Node::SharedPtr node, std::shared_ptr<rerun::RecordingStream> stream);
53 const std::shared_ptr<std::unordered_map<std::string, std::string>>
entities()
const
63 void timer_callback();
75 void update_entity(
const TfFrame & frame);
82 void log_transform(
const TfFrame & frame);
85 rclcpp::Node::SharedPtr node_;
86 std::shared_ptr<rerun::RecordingStream> stream_;
87 std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
88 std::shared_ptr<tf2_ros::TransformListener> tf_listener_;
89 rclcpp::TimerBase::SharedPtr timer_;
90 std::unique_ptr<TfTree> tf_tree_;
91 std::shared_ptr<std::unordered_map<std::string, std::string>>
93 std::unordered_map<std::string, double> last_log_stamps_;
A class to represent a TF frame information.
Definition: tf_tree.hpp:35
Definition: display.hpp:30