Publishes RVIZ transforms used to visualize a robot's URDF. More...

Public Member Functions
	UrdfVisualizer (const std::string &urdf_name, const std::vector< URDFName > &joint_names_in_urdf, const URDFName &base_link_in_urdf, const std::string &rviz_fixed_frame, const std::string &state_topic, const std::string &tf_prefix="")
	Constructs the visualizer for a specific URDF urdf_name.
virtual	~UrdfVisualizer ()
Private Member Functions
UrdfnameToJointAngle	AssignAngleToURDFJointName (const sensor_msgs::JointState &msg) const
geometry_msgs::TransformStamped	GetBaseFromRos (const ::ros::Time &stamp, const geometry_msgs::Pose &msg) const
void	StateCallback (const xpp_msgs::RobotStateJoint &msg)
Private Attributes
URDFName	base_joint_in_urdf_
std::vector< URDFName >	joint_names_in_urdf_
std::shared_ptr < robot_state_publisher::RobotStatePublisher >	robot_publisher
std::string	rviz_fixed_frame_
std::string	state_msg_name_
ros::Subscriber	state_sub_des_
tf::TransformBroadcaster	tf_broadcaster_
std::string	tf_prefix_

Detailed Description

Publishes RVIZ transforms used to visualize a robot's URDF.

This class is responsible for converting an xpp_msgs::RobotStateJoint robot message and publishing the corresponding RVIZ transforms.

Definition at line 60 of file urdf_visualizer.h.

Constructor & Destructor Documentation

xpp::UrdfVisualizer::UrdfVisualizer	(	const std::string &	urdf_name,
		const std::vector< URDFName > &	joint_names_in_urdf,
		const URDFName &	base_link_in_urdf,
		const std::string &	rviz_fixed_frame,
		const std::string &	state_topic,
		const std::string &	tf_prefix = `""`
	)

Constructs the visualizer for a specific URDF urdf_name.

Parameters:

urdf_name	Robot description variable on the ROS parameter server.
joint_names_in_urdf	The names of the joints in the URDF file ordered in the same way as in the xpp convention (see inverse kinematics).
base_link_in_urdf	The name of the base_link in the URDF file.
rviz_fixed_frame	The Fixed Frame name specified in RVIZ.
state_topic	The topic of the xpp_msgs::RobotStateJoint ROS message to subscribe to.
tf_prefix	In case multiple URDFS are loaded, each can be given a unique tf_prefix in RIVZ to visualize different states simultaneously.