Program Listing for File robot_state_publisher.hpp

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// Copyright (c) 2008, Willow Garage, Inc.
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/* Author: Wim Meeussen */

#ifndef ROBOT_STATE_PUBLISHER__ROBOT_STATE_PUBLISHER_HPP_
#define ROBOT_STATE_PUBLISHER__ROBOT_STATE_PUBLISHER_HPP_

#include <map>
#include <memory>
#include <string>
#include <vector>

#include "builtin_interfaces/msg/time.hpp"
#include "kdl/tree.hpp"
#include "rcl_interfaces/msg/parameter_event.hpp"
#include "rcl_interfaces/msg/set_parameters_result.hpp"
#include "rclcpp/rclcpp.hpp"
#include "sensor_msgs/msg/joint_state.hpp"
#include "std_msgs/msg/string.hpp"
#include "tf2_ros/static_transform_broadcaster.h"
#include "tf2_ros/transform_broadcaster.h"
#include "urdf/model.h"

using MimicMap = std::map<std::string, urdf::JointMimicSharedPtr>;

namespace robot_state_publisher
{

class SegmentPair final
{
public:
  explicit SegmentPair(
    const KDL::Segment & p_segment,
    const std::string & p_root,
    const std::string & p_tip)
  : segment(p_segment), root(p_root), tip(p_tip) {}

  KDL::Segment segment;
  std::string root;
  std::string tip;
};

class RobotStatePublisher : public rclcpp::Node
{
public:
  explicit RobotStatePublisher(const rclcpp::NodeOptions & options);

protected:
  KDL::Tree parseURDF(const std::string & urdf_xml, urdf::Model & model);


  void setupURDF(const std::string & urdf_xml);


  void addChildren(
    const urdf::Model & model,
    const KDL::SegmentMap::const_iterator segment);


  void publishTransforms(
    const std::map<std::string, double> & joint_positions,
    const builtin_interfaces::msg::Time & time);

  void publishFixedTransforms();


  void callbackJointState(const sensor_msgs::msg::JointState::ConstSharedPtr state);


  rcl_interfaces::msg::SetParametersResult parameterUpdate(
    const std::vector<rclcpp::Parameter> & parameters);


  void onParameterEvent(std::shared_ptr<const rcl_interfaces::msg::ParameterEvent> event);

  std::map<std::string, SegmentPair> segments_;

  std::map<std::string, SegmentPair> segments_fixed_;

  std::unique_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;

  std::unique_ptr<tf2_ros::StaticTransformBroadcaster> static_tf_broadcaster_;

  rclcpp::Publisher<std_msgs::msg::String>::SharedPtr description_pub_;

  rclcpp::Subscription<sensor_msgs::msg::JointState>::SharedPtr joint_state_sub_;

  rclcpp::Time last_callback_time_;

  std::map<std::string, builtin_interfaces::msg::Time> last_publish_time_;

  MimicMap mimic_;

  rclcpp::node_interfaces::OnSetParametersCallbackHandle::SharedPtr param_cb_;

  std::shared_ptr<rclcpp::Subscription<rcl_interfaces::msg::ParameterEvent,
    std::allocator<void>>> parameter_subscription_;
};

}  // namespace robot_state_publisher

#endif  // ROBOT_STATE_PUBLISHER__ROBOT_STATE_PUBLISHER_HPP_