Struct tf_rosrust::TfListener

pub struct TfListener { /* private fields */ }

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

Examples found in repository

examples/listener.rs (line 5)

fn main() {
    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();
    }
}

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.

Examples found in repository

examples/listener.rs (line 9)

fn main() {
    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();
    }
}

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.