There is no documentation at all on how to create a tf2_ros::TransformBroadcaster inside a ROS2 node.
My best guess is to depend on tf2 and:
#include <tf2_ros/transform_broadcaster.h>
[...]
auto tf_broadcaster = std::make_shared<tf2_ros::TransformBroadcaster>(this->shared_from_this());
which causes a compiler error:
/usr/bin/ld: libMultiWiiNode.so: undefined reference to `rosidl_message_type_support_t const* rosidl_typesupport_cpp::get_message_type_support_handle<tf2_msgs::msg::TFMessage_<std::allocator<void> > >()'
It turns out that including tf2 is not sufficient and that one also has to include the tf2_msgs dependency manually. The tf2 packages should automatically include all its dependencies, such as tf2_msgs.
There is no documentation at all on how to create a
tf2_ros::TransformBroadcasterinside a ROS2 node.My best guess is to depend on
tf2and:which causes a compiler error:
It turns out that including
tf2is not sufficient and that one also has to include thetf2_msgsdependency manually. Thetf2packages should automatically include all its dependencies, such astf2_msgs.