ROS2 - tf2_ros::TransformBroadcaster and rclcpp_lifecycle::LifecycleNode
I need to create a TransformBroadcaster inside my LifecycleNode, but the constructor of tf2_ros::TransformBroadcaster
requires a rclcpp::Node::SharedPtr
.
This may be a silly question, but I cannot fill the missing part:
std::shared_ptr<tf2_ros::TransformBroadcaster> mTransformPoseBroadcaster;
mTransformPoseBroadcaster = std::make_shared<tf2_ros::TransformBroadcaster>(??????????);
Thank you for help
Walter