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vehicle_configurable_tf.cc File Reference

ROS static transform broadcaster for the ART Vehicle with parameters set using dynamic reconfigure. More...

#include <ros/ros.h>
#include <angles/angles.h>
#include <tf/transform_broadcaster.h>
#include <art/frames.h>
#include <art_msgs/ArtHertz.h>
#include <art_msgs/ArtVehicle.h>
#include <dynamic_reconfigure/server.h>
#include <art_common/CameraTransformConfig.h>
Include dependency graph for vehicle_configurable_tf.cc:

Go to the source code of this file.

Defines

#define NODE   "vehicle_configurable_tf"

Functions

void broadcastTF (tf::TransformBroadcaster *tf_broadcaster, std::string device_frame, double x, double y, double z, double roll, double pitch, double yaw)
void callback (art_common::CameraTransformConfig &config, uint32_t level)
int main (int argc, char **argv)
void opticalTF (tf::TransformBroadcaster *tf_broadcaster, std::string device_frame, double x, double y, double z, double roll, double pitch, double yaw)

Detailed Description

ROS static transform broadcaster for the ART Vehicle with parameters set using dynamic reconfigure.

This node broadcasts transforms from various devices to the "/vehicle" frame of reference. Some ROS components require that to be done about once every 10 seconds. It provides a dynamic reconfigure environment to configure these transforms.

Advertises
Author:
Jack O'Quin

Definition in file vehicle_configurable_tf.cc.


Define Documentation

#define NODE   "vehicle_configurable_tf"

Definition at line 39 of file vehicle_configurable_tf.cc.


Function Documentation

void broadcastTF ( tf::TransformBroadcaster tf_broadcaster,
std::string  device_frame,
double  x,
double  y,
double  z,
double  roll,
double  pitch,
double  yaw 
)

Publish the 3D pose of a device in the vehicle's frame of reference.

Definition at line 55 of file vehicle_configurable_tf.cc.

void callback ( art_common::CameraTransformConfig &  config,
uint32_t  level 
)

Definition at line 104 of file vehicle_configurable_tf.cc.

int main ( int  argc,
char **  argv 
)

main program

Definition at line 109 of file vehicle_configurable_tf.cc.

void opticalTF ( tf::TransformBroadcaster tf_broadcaster,
std::string  device_frame,
double  x,
double  y,
double  z,
double  roll,
double  pitch,
double  yaw 
)

Publish the 3D pose of a device in the vehicle's frame of reference, plus its optical frame.

Definition at line 81 of file vehicle_configurable_tf.cc.

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art_common
Author(s): Austin Robot Technology
autogenerated on Fri Mar 1 14:12:14 2013