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Expose TF2 listener CB #632

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Merged
merged 1 commit into from
Oct 11, 2023
Merged

Expose TF2 listener CB #632

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7 changes: 4 additions & 3 deletions tf2_ros/include/tf2_ros/transform_listener.h
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Original file line number Diff line number Diff line change
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