transform_stamped.hpp

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namespace geometry_msgs::msg {
class TransformStamped {
public:
    // This expresses a transform from coordinate frame header.frame_id
    // to the coordinate frame child_frame_id at the time of header.stamp
    // 
    // This message is mostly used by the
    // <a href="https://index.ros.org/p/tf2/">tf2</a> package.
    // See its documentation for more information.
    // 
    // The child_frame_id is necessary in addition to the frame_id
    // in the Header to communicate the full reference for the transform
    // in a self contained message.
 
    // The frame id in the header is used as the reference frame of this transform.
    std_msgs::msg::Header header;
 
    // The frame id of the child frame to which this transform points.
    std::string child_frame_id;
 
    // Translation and rotation in 3-dimensions of child_frame_id from header.frame_id.
    msg::Transform transform;
};
} // namespace geometry_msgs::msg