pose2Tf_repeat.cpp
Go to the documentation of this file.00001 /* 00002 * Software License Agreement (Modified BSD License) 00003 * 00004 * Copyright (c) 2012, PAL Robotics, S.L. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of PAL Robotics, S.L. nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 */ 00034 00044 #include <ros/ros.h> 00045 #include <tf/transform_broadcaster.h> 00046 #include <geometry_msgs/Pose.h> 00047 #include <blort_ros/pose_util.h> 00048 #include <string> 00049 00050 std::string parent_name; 00051 std::string child_name; 00052 bool pose_received; 00053 geometry_msgs::Pose last_pose; 00054 00055 void poseCallback(const geometry_msgs::Pose &msg) 00056 { 00057 last_pose = msg; 00058 pose_received = true; 00059 } 00060 00061 int main(int argc, char** argv){ 00062 ros::init(argc, argv, "pose2Tf"); 00063 ros::NodeHandle nh; 00064 if(argc < 3) 00065 { 00066 ROS_ERROR("pose2Tf node requires a parent and a child name to publish to tf."); 00067 return -1; 00068 } 00069 00070 parent_name = std::string(argv[1]); 00071 child_name = std::string(argv[2]); 00072 00073 pose_received = false; 00074 ros::Subscriber sub = nh.subscribe("/pose", 10, &poseCallback); 00075 static tf::TransformBroadcaster br; 00076 00077 while(ros::ok()) 00078 { 00079 ros::spinOnce(); 00080 if(pose_received) 00081 { 00082 tf::Transform target_transform = pal_vision_util::rosPose2TfTransform(last_pose); 00083 br.sendTransform( tf::StampedTransform(target_transform, ros::Time::now(), parent_name, child_name)); 00084 } 00085 } 00086 00087 return 0; 00088 };