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)

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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

• /tf topic: broadcast transforms from /velodyne, /front_sick, and /rear_sick frames to /vehicle frame.

Author:

Jack O'Quin

Definition in file vehicle_configurable_tf.cc.

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Define Documentation

#define NODE   "vehicle_configurable_tf"

Definition at line 39 of file vehicle_configurable_tf.cc.

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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.