00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2015, PickNik LLC 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of PickNik LLC nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 /* 00035 Author: Andy McEvoy (mcevoy.andy@gmail.com), Dave Coleman 00036 Desc : Tweak a TF transform using a keyboard 00037 */ 00038 00039 #include <tf_keyboard_cal/manual_tf_alignment.h> 00040 00041 int main(int argc, char** argv) 00042 { 00043 ros::init(argc, argv, "tf_keyboard"); 00044 ROS_INFO_STREAM_NAMED("tf_keyboard","Starting keyboard control"); 00045 00046 ros::AsyncSpinner spinner(2); 00047 spinner.start(); 00048 00049 tf_keyboard_cal::ManualTFAlignment tf_align; 00050 tf_align.printMenu(); 00051 00052 ros::Rate rate(30.0); // hz 00053 while ( ros::ok() ) 00054 { 00055 // publish transform to camera 00056 tf_align.publishTF(); 00057 00058 rate.sleep(); 00059 } 00060 00061 }