Program Listing for File tf_visual_tools.hpp
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// Copyright 2021 PickNik Inc.
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/* Author: Dave Coleman <dave@picknik.ai>
Desc: Helps debug and visualize transforms via the TF infrastructure
Note: We shouldn't have to publish the transforms at interval since they are static, but we do
because of https://github.com/ros/geometry_experimental/issues/108
*/
#pragma once
// C++
#include <vector>
#include <string>
// ROS
#include <rclcpp/rclcpp.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>
// Eigen
#include <Eigen/Geometry>
#include <tf2_ros/transform_broadcaster.h>
// namespace tf2_ros
// {
// class StaticTransformBroadcaster;
// };
namespace rviz_visual_tools
{
class TFVisualTools
{
public:
TFVisualTools(const rclcpp::Node::SharedPtr& node, double loop_hz = 2);
bool publishTransform(const Eigen::Isometry3d& transform, const std::string& from_frame,
const std::string& to_frame);
void clearAllTransforms();
private:
void publishAllTransforms();
// Node Interfaces
// rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface_;
// rclcpp::node_interfaces::NodeGraphInterface::SharedPtr graph_interface_;
// rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging_interface_;
rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;
rclcpp::node_interfaces::NodeTimersInterface::SharedPtr timers_interface_;
rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface_;
rclcpp::Logger logger_;
// Send tf messages
std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;
// Separate thread to publish transforms
rclcpp::TimerBase::SharedPtr non_realtime_loop_;
// Collect the transfroms
std::vector<geometry_msgs::msg::TransformStamped> transforms_;
}; // end class
// Create boost pointers for this class
typedef std::shared_ptr<TFVisualTools> TFVisualToolsPtr;
typedef std::shared_ptr<const TFVisualTools> TFVisualToolsConstPtr;
} // namespace rviz_visual_tools