transform_listener.cpp
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29 
33 
34 
35 using namespace tf2_ros;
36 
37 
39  dedicated_listener_thread_(NULL), buffer_(buffer), using_dedicated_thread_(false)
40 {
41  if (spin_thread)
43  else
44  init();
45 }
46 
49 , node_(nh)
50 , buffer_(buffer)
52 {
53  if (spin_thread)
55  else
56  init();
57 }
58 
59 
61 {
64  {
67  }
68 }
69 
71 {
72  message_subscriber_tf_ = node_.subscribe<tf2_msgs::TFMessage>("/tf", 100, boost::bind(&TransformListener::subscription_callback, this, _1));
73  message_subscriber_tf_static_ = node_.subscribe<tf2_msgs::TFMessage>("/tf_static", 100, boost::bind(&TransformListener::static_subscription_callback, this, _1));
74 }
75 
77 {
79  ros::SubscribeOptions ops_tf = ros::SubscribeOptions::create<tf2_msgs::TFMessage>("/tf", 100, boost::bind(&TransformListener::subscription_callback, this, _1), ros::VoidPtr(), &tf_message_callback_queue_);
81 
82  ros::SubscribeOptions ops_tf_static = ros::SubscribeOptions::create<tf2_msgs::TFMessage>("/tf_static", 100, boost::bind(&TransformListener::static_subscription_callback, this, _1), ros::VoidPtr(), &tf_message_callback_queue_);
84 
85  dedicated_listener_thread_ = new boost::thread(boost::bind(&TransformListener::dedicatedListenerThread, this));
86 
87  //Tell the buffer we have a dedicated thread to enable timeouts
89 }
90 
91 
92 
94 {
95  subscription_callback_impl(msg_evt, false);
96 }
98 {
99  subscription_callback_impl(msg_evt, true);
100 }
101 
103 {
104  ros::Time now = ros::Time::now();
105  if(now < last_update_){
106  ROS_WARN_STREAM("Detected jump back in time of " << (last_update_ - now).toSec() << "s. Clearing TF buffer.");
107  buffer_.clear();
108  }
109  last_update_ = now;
110 
111 
112 
113  const tf2_msgs::TFMessage& msg_in = *(msg_evt.getConstMessage());
114  std::string authority = msg_evt.getPublisherName(); // lookup the authority
115  for (unsigned int i = 0; i < msg_in.transforms.size(); i++)
116  {
117  try
118  {
119  buffer_.setTransform(msg_in.transforms[i], authority, is_static);
120  }
121 
122  catch (tf2::TransformException& ex)
123  {
125  std::string temp = ex.what();
126  ROS_ERROR("Failure to set recieved transform from %s to %s with error: %s\n", msg_in.transforms[i].child_frame_id.c_str(), msg_in.transforms[i].header.frame_id.c_str(), temp.c_str());
127  }
128  }
129 };
130 
131 
132 
133 
134 
const boost::shared_ptr< ConstMessage > & getConstMessage() const
TransformListener(tf2::BufferCore &buffer, bool spin_thread=true)
Constructor for transform listener.
boost::thread * dedicated_listener_thread_
ros::Subscriber message_subscriber_tf_static_
ros::CallbackQueue tf_message_callback_queue_
void subscription_callback_impl(const ros::MessageEvent< tf2_msgs::TFMessage const > &msg_evt, bool is_static)
void setUsingDedicatedThread(bool value)
bool setTransform(const geometry_msgs::TransformStamped &transform, const std::string &authority, bool is_static=false)
Subscriber subscribe(const std::string &topic, uint32_t queue_size, void(T::*fp)(M), T *obj, const TransportHints &transport_hints=TransportHints())
ros::Subscriber message_subscriber_tf_
#define ROS_WARN_STREAM(args)
void init()
Initialize this transform listener, subscribing, advertising services, etc.
Definition: buffer.h:42
static Time now()
boost::shared_ptr< void > VoidPtr
#define ROS_ERROR(...)
const std::string & getPublisherName() const
void subscription_callback(const ros::MessageEvent< tf2_msgs::TFMessage const > &msg_evt)
Callback function for ros message subscription.
void static_subscription_callback(const ros::MessageEvent< tf2_msgs::TFMessage const > &msg_evt)


tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Tue Oct 15 2019 03:13:10