robot_state_publisher.h

Go to the documentation of this file.

/*********************************************************************
* Software License Agreement (BSD License)
*
*  Copyright (c) 2008, Willow Garage, Inc.
*  All rights reserved.
*
*  Redistribution and use in source and binary forms, with or without
*  modification, are permitted provided that the following conditions
*  are met:
*
*   * Redistributions of source code must retain the above copyright
*     notice, this list of conditions and the following disclaimer.
*   * Redistributions in binary form must reproduce the above
*     copyright notice, this list of conditions and the following
*     disclaimer in the documentation and/or other materials provided
*     with the distribution.
*   * Neither the name of the Willow Garage nor the names of its
*     contributors may be used to endorse or promote products derived
*     from this software without specific prior written permission.
*
*  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
*  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
*  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
*  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
*  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
*  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
*  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
*  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
*  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
*  LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
*  ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
*  POSSIBILITY OF SUCH DAMAGE.
*********************************************************************/

/* 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(){};

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

protected:
  virtual 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