pose_transform.cpp

Go to the documentation of this file.

/*
 * Copyright (c) 2014-2017, the neonavigation authors
 * 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 the copyright holder 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.
 */

#include <ros/ros.h>

#include <geometry_msgs/PoseWithCovarianceStamped.h>
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#include <tf2_ros/transform_listener.h>

#include <string>

#include <neonavigation_common/compatibility.h>

std::string to;
std::shared_ptr<tf2_ros::Buffer> tfbuf;

ros::Publisher pub_pose;

void cbPose(const geometry_msgs::PoseWithCovarianceStamped::Ptr& msg)
{
  try
  {
    geometry_msgs::PoseStamped in;
    geometry_msgs::PoseStamped out;
    geometry_msgs::PoseWithCovarianceStamped out_msg;
    in.header = msg->header;
    in.header.stamp = ros::Time(0);
    in.pose = msg->pose.pose;
    geometry_msgs::TransformStamped trans = tfbuf->lookupTransform(
        to, msg->header.frame_id, in.header.stamp, ros::Duration(0.5));
    tf2::doTransform(in, out, trans);
    out_msg = *msg;
    out_msg.header = out.header;
    out_msg.pose.pose = out.pose;
    pub_pose.publish(out_msg);
  }
  catch (tf2::TransformException& e)
  {
    ROS_WARN("pose_transform: %s", e.what());
  }
}

int main(int argc, char** argv)
{
  ros::init(argc, argv, "pose_transform");
  ros::NodeHandle pnh("~");
  ros::NodeHandle nh("");

  neonavigation_common::compat::checkCompatMode();
  auto subPose = neonavigation_common::compat::subscribe(
      nh, "pose_in",
      pnh, "pose_in", 1, cbPose);
  pub_pose = neonavigation_common::compat::advertise<geometry_msgs::PoseWithCovarianceStamped>(
      nh, "pose_out",
      pnh, "pose_out", 1, false);
  pnh.param("to_frame", to, std::string("map"));

  tfbuf.reset(new tf2_ros::Buffer);
  tf2_ros::TransformListener tfl(*tfbuf);
  ros::spin();

  return 0;
}