Program Listing for File as2_external_object_to_tf.hpp
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// Copyright 2024 Universidad Politécnica de Madrid
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#ifndef AS2_EXTERNAL_OBJECT_TO_TF__AS2_EXTERNAL_OBJECT_TO_TF_HPP_
#define AS2_EXTERNAL_OBJECT_TO_TF__AS2_EXTERNAL_OBJECT_TO_TF_HPP_
#include <geometry_msgs/msg/transform_stamped.h>
#include <tf2/utils.h>
#include <tf2_msgs/msg/tf_message.h>
#include <tf2_ros/static_transform_broadcaster.h>
#include <tf2_ros/transform_broadcaster.h>
#include <fstream>
#include <iostream>
#include <memory>
#include <map>
#include <vector>
#include <string>
#include <tuple>
#include "as2_msgs/srv/add_static_transform.hpp"
#include "as2_msgs/srv/add_static_transform_gps.hpp"
#include <geographic_msgs/msg/geo_point.hpp>
#include <geometry_msgs/msg/quaternion.hpp>
#include <rclcpp/rclcpp.hpp>
#include "as2_core/names/actions.hpp"
#include "as2_core/names/services.hpp"
#include "as2_core/names/topics.hpp"
#include "as2_core/node.hpp"
#include "as2_core/utils/gps_utils.hpp"
#include "as2_msgs/srv/get_origin.hpp"
#include "geometry_msgs/msg/pose_stamped.hpp"
#include "mocap4r2_msgs/msg/rigid_bodies.hpp"
#include "sensor_msgs/msg/nav_sat_fix.hpp"
#include "std_msgs/msg/float32.hpp"
#include "std_msgs/msg/string.hpp"
struct gps_object
{
sensor_msgs::msg::NavSatFix::SharedPtr gps_pose;
std_msgs::msg::Float32::SharedPtr azimuth;
};
class As2ExternalObjectToTf : public as2::Node
{
public:
As2ExternalObjectToTf();
using CallbackReturn = rclcpp_lifecycle::node_interfaces::LifecycleNodeInterface::CallbackReturn;
void setupNode();
void cleanupNode();
void run();
CallbackReturn on_configure(const rclcpp_lifecycle::State &) override;
CallbackReturn on_deactivate(const rclcpp_lifecycle::State &) override;
CallbackReturn on_shutdown(const rclcpp_lifecycle::State &) override;
private:
bool origin_set_ = false;
bool use_sim_time = false;
std::string config_path_;
std::string mocap_topic_;
std::vector<rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr> pose_subs_;
std::vector<rclcpp::Subscription<sensor_msgs::msg::NavSatFix>::SharedPtr> gps_subs_;
std::vector<rclcpp::Subscription<std_msgs::msg::Float32>::SharedPtr> azimuth_subs_;
rclcpp::Subscription<mocap4r2_msgs::msg::RigidBodies>::SharedPtr mocap_sub_;
rclcpp::Service<as2_msgs::srv::AddStaticTransform>::SharedPtr setTrasformSrv;
rclcpp::Service<as2_msgs::srv::AddStaticTransformGps>::SharedPtr
setTrasformGpsSrv;
geographic_msgs::msg::GeoPoint::UniquePtr origin_;
std::vector<rclcpp::Subscription<geometry_msgs::msg::PoseStamped>::SharedPtr>
objects_subscriptions_;
rclcpp::Client<as2_msgs::srv::GetOrigin>::SharedPtr get_origin_srv_;
std::unique_ptr<tf2_ros::TransformBroadcaster> tfBroadcaster;
std::unique_ptr<tf2_ros::StaticTransformBroadcaster> staticTfBroadcaster;
std::unique_ptr<as2::gps::GpsHandler> gps_handler;
std::map<std::string, gps_object> gps_poses;
void loadObjects(const std::string path);
void setupGPS();
geometry_msgs::msg::TransformStamped gpsToTransform(
const sensor_msgs::msg::NavSatFix::SharedPtr gps_pose,
const float azimuth,
const float pitch,
const std::string frame_id,
const std::string parent_frame_id);
geometry_msgs::msg::Quaternion azimuthToQuaternion(
const std_msgs::msg::Float32::SharedPtr azimuth);
geometry_msgs::msg::Quaternion azimuthPitchToQuaternion(const float azimuth, const float pitch);
void publishPoseAsTransform(
const geometry_msgs::msg::PoseStamped::SharedPtr msg,
std::string frame_id,
std::string parent_frame_id);
void publishPoseAsTransform(
const geometry_msgs::msg::Pose::SharedPtr msg,
std::string frame_id,
std::string parent_frame_id);
void poseCallback(
const geometry_msgs::msg::PoseStamped::SharedPtr msg,
std::string frame_id,
std::string parent_frame_id);
void gpsCallback(
const sensor_msgs::msg::NavSatFix::SharedPtr msg,
std::string frame_id,
std::string parent_frame_id);
void azimuthCallback(
const std_msgs::msg::Float32::SharedPtr msg,
std::string frame_id,
std::string parent_frame_id);
void mocapCallback(
const mocap4r2_msgs::msg::RigidBodies::SharedPtr msg,
std::vector<std::tuple<std::string, std::string>> mappings);
void addStaticTransform(
const as2_msgs::srv::AddStaticTransform::Request::SharedPtr request,
const as2_msgs::srv::AddStaticTransform::Response::SharedPtr response);
void addStaticTransformGps(
const as2_msgs::srv::AddStaticTransformGps::Request::SharedPtr request,
const as2_msgs::srv::AddStaticTransformGps::Response::SharedPtr response);
};
#endif // AS2_EXTERNAL_OBJECT_TO_TF__AS2_EXTERNAL_OBJECT_TO_TF_HPP_