Struct rustros_tf::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:

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", ros::Time::now());
        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.

Methods

impl TfListener

pub fn new() -> Self

Create a new TfListener

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.