demo_tf_listener.cpp

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/* Author: Dave Coleman
   Desc:
*/

#ifndef TF_KEYBOARD_CAL_DEMO_TF_LISTENER_H
#define TF_KEYBOARD_CAL_DEMO_TF_LISTENER_H

// ROS
#include <ros/ros.h>
#include <tf/transform_listener.h>

// Conversions
#include <tf_conversions/tf_eigen.h>
#include <eigen_conversions/eigen_msg.h>

// Visualize
#include <rviz_visual_tools/rviz_visual_tools.h>

namespace tf_keyboard_cal
{
class DemoTFListener
{
public:
  DemoTFListener() : name_("demo_tf_listener"), nh_("~")
  {
    visual_tools_.reset(new rviz_visual_tools::RvizVisualTools("world", "/demo_tf_listener/markers"));
    visual_tools_->deleteAllMarkers();

    ROS_INFO_STREAM_NAMED(name_, "DemoTFListener Ready.");
  }

  void runLoop()
  {
    // Allow time for listener to load
    ros::Duration(1.0).sleep();

    const bool verbose = false;

    ros::Rate rate(10.0);
    while (ros::ok())
    {
      Eigen::Affine3d pose;

      getPose("/world", "/thing", pose);

      // Show pose in console
      if (verbose)
        std::cout << "Position: \n" << pose.translation() << std::endl;

      // Visualize pose
      visual_tools_->publishXArrow(pose);

      rate.sleep();
    }
  }

  bool getPose(const std::string& from_frame, const std::string& to_frame, Eigen::Affine3d &pose)
  {
      tf::StampedTransform tf_transform;
      try
      {
        tf_.lookupTransform(from_frame, to_frame, ros::Time(0), tf_transform);
      }
      catch (tf::TransformException ex)
      {
        ROS_ERROR("%s", ex.what());
        return false;
      }

      // Convert to eigen
      tf::transformTFToEigen(tf_transform, pose);
      return true;
  }

private:
  // --------------------------------------------------------
  // The short name of this class
  std::string name_;

  // A shared node handle
  ros::NodeHandle nh_;

  // For visualizing things in rviz
  rviz_visual_tools::RvizVisualToolsPtr visual_tools_;

  tf::TransformListener tf_;

};  // end class

// Create boost pointers for this class
typedef boost::shared_ptr<DemoTFListener> DemoTFListenerPtr;
typedef boost::shared_ptr<const DemoTFListener> DemoTFListenerConstPtr;

}  // namespace tf_keyboard_cal
#endif  // TF_KEYBOARD_CAL_DEMO_TF_LISTENER_H

int main(int argc, char** argv)
{
  // Initialize ROS
  ros::init(argc, argv, "demo_tf_listener");
  ROS_INFO_STREAM_NAMED("main", "Starting DemoTFListener...");

  // Allow the action server to recieve and send ros messages
  ros::AsyncSpinner spinner(2);
  spinner.start();

  // Initialize main class
  tf_keyboard_cal::DemoTFListener server;
  server.runLoop();

  // Shutdown
  ROS_INFO_STREAM_NAMED("main", "Shutting down.");
  ros::shutdown();

  return 0;
}