static_transform_broadcaster.h

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#ifndef _STATIC_TRANSFORM_BROADCASTER_H_
#define _STATIC_TRANSFORM_BROADCASTER_H_

#include <map>

#include <boost/thread/thread.hpp>
#include <boost/thread/mutex.hpp>

#include <geometry_msgs/TransformStamped.h>

#include <tf/transform_datatypes.h>
#include <tf/transform_broadcaster.h>

namespace static_transform_broadcaster {


class StaticTransformBroadcaster
{
private:
  tf::TransformBroadcaster broadcaster_;

  std::map<std::string, geometry_msgs::TransformStamped> transforms_;
  
  double publishing_rate_;

  bool finished_;

  boost::thread *publishing_thread_;

  boost::mutex mutex_;

  void publishingThread()
  {
    while (!finished_)
    {
      ros::Duration(publishing_rate_).sleep();
      std::map<std::string, geometry_msgs::TransformStamped>::iterator it;
      mutex_.lock();
      for (it = transforms_.begin(); it!=transforms_.end(); it++)
      {
        geometry_msgs::TransformStamped trans = it->second;
        trans.header.stamp = ros::Time::now();
        broadcaster_.sendTransform(trans);
      }
      mutex_.unlock();
    }
  }
  
public:
  StaticTransformBroadcaster() : publishing_rate_(0.1), finished_(false) 
  {
    publishing_thread_ = new boost::thread(boost::bind(&StaticTransformBroadcaster::publishingThread, this)); 
  }

  ~StaticTransformBroadcaster() 
  {
    finished_ = true;
    publishing_thread_->join();
    delete publishing_thread_;
  }


  void setTransform(geometry_msgs::TransformStamped transform)
  {
    mutex_.lock();
    transforms_[transform.child_frame_id] = transform;
    mutex_.unlock();
  }

  void removeTransform(std::string child_frame_id)
  {
    mutex_.lock();
    std::map<std::string, geometry_msgs::TransformStamped>::iterator it = transforms_.find(child_frame_id);    
    if (it != transforms_.end())
    {
      transforms_.erase(it);
    }
    else
    {
      ROS_WARN("Static transform broadcaster: attempt to erase non-existent transform to frame %s",
               child_frame_id.c_str());
    }
    mutex_.unlock();
  }
  
  void removeAllTransforms()
  {
    transforms_.clear();
  }

  void setPublishingRate(double rate)
  {
    publishing_rate_ = std::max(0.0, rate);
  }

  double getPublishingRate() const 
  {
    return publishing_rate_;
  }
};

} //namespace

#endif