transform

Introduction

The transform module is used to read the transform configuration file to publish static transform relationships. This module can publish different static coordinate transformations by defining different configurations.

Directory Structure

shell

modules/transform
├── buffer.cc
├── buffer.h
├── buffer_interface.h
├── BUILD
├── conf
├── cyberfile.xml
├── dag
├── launch
├── proto
├── README.md
├── static_transform_component.cc
├── static_transform_component.h
├── static_transform_component_test.cc
├── transform_broadcaster.cc
└── transform_broadcaster.h

Input

None

Output

Name	Type	Description
`msg`	`apollo::transform::Transform`	tf msg

configs

file path	type / struct	Description
`modules/transform/conf/static_transform_conf.pb.txt`	`apollo::static_transform::Conf`	tf config

How to Launch

bash

cyber_launch start modules/transform/launch/static_transform.launch