pose_to_tf.cpp

Go to the documentation of this file.

/*********************************************************************
*
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of Willow Garage, Inc. nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*
* Author: Wim Meeussen
*********************************************************************/


#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <tf/tf.h>
#include <geometry_msgs/PoseWithCovarianceStamped.h>

static tf::StampedTransform transform;
static bool started;
static std::string frame_id;


void poseCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr& msg){
  started = true;
  tf::Transform tmp;
  tmp.setOrigin(tf::Vector3(msg->pose.pose.position.x, msg->pose.pose.position.y, msg->pose.pose.position.z));
  tmp.setRotation(tf::Quaternion(msg->pose.pose.orientation.x, msg->pose.pose.orientation.y, msg->pose.pose.orientation.z, msg->pose.pose.orientation.w));
  transform = tf::StampedTransform(tmp, msg->header.stamp, msg->header.frame_id, frame_id);
}



int main(int argc, char** argv){
  ros::init(argc, argv, "pose_to_tf");
  ros::NodeHandle node("~");
  node.param("frame_id", frame_id, std::string("frame_id_not_specified"));
  tf::TransformBroadcaster br;
  started = false;

  ros::NodeHandle node_top;
  ros::Subscriber sub = node_top.subscribe("pose", 10, &poseCallback);

  ros::Rate rate(50.0);
  while (ros::ok()){
    if (started)
      br.sendTransform(transform);
    ros::spinOnce();
    rate.sleep();
  }
  return 0;
}