Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

Expose TF2 listener CB #632

Merged
merged 1 commit into from Oct 11, 2023
Merged

Expose TF2 listener CB #632

Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Jump to
Jump to file
Failed to load files.
Diff view
Diff view
7 changes: 4 additions & 3 deletions tf2_ros/include/tf2_ros/transform_listener.h
View file
Open in desktop
Expand Up @@ -164,6 +164,10 @@ class TransformListener
TF2_ROS_PUBLIC
virtual ~TransformListener();

/// Callback function for ros message subscription
TF2_ROS_PUBLIC
virtual void subscription_callback(tf2_msgs::msg::TFMessage::ConstSharedPtr msg, bool is_static);

private:
template<class AllocatorT = std::allocator<void>>
void init(
Expand Down Expand Up @@ -225,9 +229,6 @@ class TransformListener
static_options);
}
}
/// Callback function for ros message subscriptoin
TF2_ROS_PUBLIC
void subscription_callback(tf2_msgs::msg::TFMessage::ConstSharedPtr msg, bool is_static);

bool spin_thread_{false};
std::unique_ptr<std::thread> dedicated_listener_thread_ {nullptr};
Expand Down