tf_publisher_plugin.h

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#ifndef ED_TF_PUBLISHER_PLUGIN_H_
#define ED_TF_PUBLISHER_PLUGIN_H_
 
#include <ed/plugin.h>
 
#include <memory>
 
namespace tf2_ros {
    class TransformBroadcaster;
}
 
class TFPublisherPlugin : public ed::Plugin
{
 
public:
 
    TFPublisherPlugin();
 
    virtual ~TFPublisherPlugin();
 
    void configure(tue::Configuration config);
 
    void initialize();
 
    void process(const ed::WorldModel& world, ed::UpdateRequest& req);
 
private:
 
    std::string root_frame_id_;
 
    // Exclude all ids starting with this value
    std::string exclude_;
 
    std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
 
};
 
#endif