Struct tf_rosrust::TfListener

pub struct TfListener { /* fields omitted */ }

This struct tries to be the same as the C++ version of TransformListener. Use this struct to lookup transforms.

Example usage:

use tf_rosrust::TfListener;

rosrust::init("listener");
let listener = TfListener::new();

let rate = rosrust::rate(1.0);
while rosrust::is_ok() {
    let tf = listener.lookup_transform("camera", "base_link", rosrust::Time::new());
    println!("{:?}", tf);
    rate.sleep();
}

Do note that unlike the C++ variant of the TfListener, only one TfListener can be created at a time. Like its C++ counterpart, it must be scoped to exist through the lifetime of the program. One way to do this is using an Arc or RwLock.

Implementations

impl TfListener

pub fn new() -> Self

Create a new TfListener

pub fn new_with_buffer(tf_buffer: TfBuffer) -> Self

pub fn lookup_transform(
    &self,
    from: &str,
    to: &str,
    time: Time
) -> Result<TransformStamped, TfError>

Looks up a transform within the tree at a given time.

pub fn lookup_transform_with_time_travel(
    &self,
    from: &str,
    time1: Time,
    to: &str,
    time2: Time,
    fixed_frame: &str
) -> Result<TransformStamped, TfError>

Looks up a transform within the tree at a given time.

Trait Implementations

impl Default for TfListener

fn default() -> Self

Returns the “default value” for a type.