From 18dd3a97b44a4dbe0c92d0824c01dade4109e0d1 Mon Sep 17 00:00:00 2001 From: Robert Wilbrandt Date: Wed, 9 Oct 2024 12:31:39 +0200 Subject: [PATCH] Note tf publishing in documentation --- pose_broadcaster/doc/userdoc.rst | 2 +- pose_broadcaster/pose_broadcaster.xml | 2 +- 2 files changed, 2 insertions(+), 2 deletions(-) diff --git a/pose_broadcaster/doc/userdoc.rst b/pose_broadcaster/doc/userdoc.rst index b7f3901a56..0ae40e2fad 100644 --- a/pose_broadcaster/doc/userdoc.rst +++ b/pose_broadcaster/doc/userdoc.rst @@ -5,7 +5,7 @@ Pose Broadcaster -------------------------------- Broadcaster for poses measured by a robot or a sensor. -The published message type is ``geometry_msgs/msg/PoseStamped``. +Poses are published as ``geometry_msgs/msg/PoseStamped`` messages and optionally as tf transforms. The controller is a wrapper around the ``PoseSensor`` semantic component (see ``controller_interface`` package). diff --git a/pose_broadcaster/pose_broadcaster.xml b/pose_broadcaster/pose_broadcaster.xml index 022254635e..6578958004 100644 --- a/pose_broadcaster/pose_broadcaster.xml +++ b/pose_broadcaster/pose_broadcaster.xml @@ -3,7 +3,7 @@ type="pose_broadcaster::PoseBroadcaster" base_class_type="controller_interface::ControllerInterface"> - This controller publishes a Cartesian state as a geometry_msgs/PoseStamped message. + This controller publishes a Cartesian state as a geometry_msgs/PoseStamped message and optionally as a tf transform.