robot_state_publisher.h

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/* Author: Wim Meeussen */

#ifndef ROBOT_STATE_PUBLISHER_H
#define ROBOT_STATE_PUBLISHER_H

#include <ros/ros.h>
#include <boost/scoped_ptr.hpp>
#include <tf/tf.h>
#include <urdf/model.h>
#include <tf2_ros/static_transform_broadcaster.h>
#include <tf2_ros/transform_broadcaster.h>
#include <kdl/frames.hpp>
#include <kdl/segment.hpp>
#include <kdl/tree.hpp>

namespace robot_state_publisher {

class SegmentPair
{
public:
  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, tip;
};


class RobotStatePublisher
{
public:
  RobotStatePublisher(const KDL::Tree& tree, const urdf::Model& model = urdf::Model());

  ~RobotStatePublisher(){};

  void publishTransforms(const std::map<std::string, double>& joint_positions, const ros::Time& time, const std::string& tf_prefix);
  void publishFixedTransforms(const std::string& tf_prefix, bool use_tf_static = false);

private:
  void addChildren(const KDL::SegmentMap::const_iterator segment);

  std::map<std::string, SegmentPair> segments_, segments_fixed_;
  const urdf::Model& model_;
  tf2_ros::TransformBroadcaster tf_broadcaster_;
  tf2_ros::StaticTransformBroadcaster static_tf_broadcaster_;
};

}

#endif