WebBefore using rclcpp it must be initialized exactly once per process. Initializing rclcpp is done using the rclcpp::init () function: #include int main(int argc, char ** argv) { rclcpp::init(argc, argv); } This function initializes any global resources needed by the middleware and the client library, as well as doing client ... WebWriting a tf2 static broadcaster (C++) In this tutorial we will write code to publish static transforms to tf2. This is a standalone tutorial covering the basics of static transforms. In the next two tutorials we will write the code to reproduce the demo from the tf2 introduction tutorial. After that, the following tutorials focus on extending ...

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