robokudo.io.tf_listener_proxy
=============================

.. py:module:: robokudo.io.tf_listener_proxy

.. autoapi-nested-parse::

   Transform listener proxy for RoboKudo.

   This module provides a singleton proxy for ROS transform listeners. It ensures
   that only one transform listener instance is created per node, which is important
   because:

   * The tf_static topic is latched and requires a single listener
   * Multiple listeners in one node can cause buffer synchronization issues
   * Transform lookups are more efficient with a shared listener

   The module maintains a single global instance that can be accessed by all
   components needing transform information.



Attributes
----------

.. autoapisummary::

   robokudo.io.tf_listener_proxy.this


Functions
---------

.. autoapisummary::

   robokudo.io.tf_listener_proxy.instance


Module Contents
---------------

.. py:data:: this

.. py:function:: instance(node)

   A singleton-like TransformListener instance.

   In ROS 2, a single TransformListener is recommended per node to ensure proper
   handling of the tf_static topic. Use this instance to access the tf_buffer.

   :param node: The ROS 2 node that will own the TransformListener.
   :type node: rclpy.node.Node
   :return: The tf_buffer associated with the TransformListener.
   :rtype: tf2_ros.Buffer