tf2_ros.transform_listener module

class tf2_ros.transform_listener.TransformListener

Bases: object

TransformListener is a convenient way to listen for coordinate frame transformation info. This class takes an object that instantiates the BufferInterface interface, to which it propagates changes to the tf frame graph.

__init__(buffer: Buffer, node: rclpy.node.Node, *, spin_thread: bool = False, qos: rclpy.qos.QoSProfile | int | None = None, static_qos: rclpy.qos.QoSProfile | int | None = None) → None

Constructor.

Parameters:

• buffer – The buffer to propagate changes to when tf info updates.

• node – The ROS2 node.

• spin_thread – Whether to create a dedidcated thread to spin this node.

• qos – A QoSProfile or a history depth to apply to subscribers.

• static_qos – A QoSProfile or a history depth to apply to tf_static subscribers.

callback(data: tf2_msgs.msg.TFMessage) → None

static_callback(data: tf2_msgs.msg.TFMessage) → None

unregister() → None

Unregisters all tf subscribers.