static_transform_pose_stamped.cpp

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// -*- mode: c++ -*-
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#include <ros/ros.h>
#include <geometry_msgs/PoseStamped.h>
#include <eigen_conversions/eigen_msg.h>

namespace jsk_topic_tools
{
  class PoseStampedTransformer
  {
  public:
    typedef boost::shared_ptr<PoseStampedTransformer> Ptr;
    PoseStampedTransformer(double x, double y, double z,
                           double yaw, double pitch, double roll,
                           std::string from_topic,
                           std::string to_topic);
    virtual ~PoseStampedTransformer();
  protected:
    void transform(const geometry_msgs::PoseStamped::ConstPtr& pose_msg);
    ros::Subscriber sub_;
    ros::Publisher pub_;
    double x_;
    double y_;
    double z_;
    double roll_;
    double pitch_;
    double yaw_;
  private:
    
  };

  PoseStampedTransformer::PoseStampedTransformer(
    double x, double y, double z,
    double yaw, double pitch, double roll,
    std::string from_topic, std::string to_topic):
    x_(x), y_(y), z_(z), yaw_(yaw), pitch_(pitch), roll_(roll)
  {
    ros::NodeHandle nh;
    pub_ = nh.advertise<geometry_msgs::PoseStamped>(
      to_topic, 1);
    sub_ = nh.subscribe(from_topic, 1,
                        &PoseStampedTransformer::transform, this);
  }

  PoseStampedTransformer::~PoseStampedTransformer()
  {

  }

  void PoseStampedTransformer::transform(
    const geometry_msgs::PoseStamped::ConstPtr& pose_msg)
  {
    Eigen::Affine3d input_transform;
    tf::poseMsgToEigen(pose_msg->pose, input_transform);
    Eigen::AngleAxisd roll_angle(roll_, Eigen::Vector3d::UnitZ());
    Eigen::AngleAxisd yaw_angle(yaw_, Eigen::Vector3d::UnitY());
    Eigen::AngleAxisd pitch_angle(pitch_, Eigen::Vector3d::UnitX());

    Eigen::Affine3d transformation
      = Eigen::Translation3d(x_, y_, z_) * roll_angle * yaw_angle * pitch_angle;
    Eigen::Affine3d output_transform = input_transform * transformation;
    geometry_msgs::PoseStamped output_pose_msg;
    tf::poseEigenToMsg(output_transform, output_pose_msg.pose);
    output_pose_msg.header = pose_msg->header;
    pub_.publish(output_pose_msg);
  }
  
}

int usage(char** argv)
{
  std::cerr << "Usage:: " << argv[0]
            << " x y z yaw pitch roll from_topic to_topic"
            << std::endl;
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "static_transform_pose_stamped",
            ros::init_options::AnonymousName);
  // x y z yaw pitch roll
  if (argc != 9) {
    usage(argv);
    exit(1);
  }
  // parse argument
  jsk_topic_tools::PoseStampedTransformer p(::atof(argv[1]),
                                            ::atof(argv[2]),
                                            ::atof(argv[3]),
                                            ::atof(argv[4]),
                                            ::atof(argv[5]),
                                            ::atof(argv[6]),
                                            argv[7],
                                            argv[8]);
  ros::spin();
}