tf_visual_tools.h
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34 
35 /* Author: Dave Coleman <dave@dav.ee>
36  Desc: Helps debug and visualize transforms via the TF infrastructure
37  Note: We shouldn't have to publish the transforms at interval since they are static, but we do
38  because of https://github.com/ros/geometry_experimental/issues/108
39 */
40 
41 #ifndef RVIZ_VISUAL_TOOLS_TF_VISUAL_TOOLS_H
42 #define RVIZ_VISUAL_TOOLS_TF_VISUAL_TOOLS_H
43 
44 // C++
45 #include <vector>
46 #include <string>
47 
48 // ROS
49 #include <ros/ros.h>
50 #include <geometry_msgs/TransformStamped.h>
51 
52 // Eigen
53 #include <Eigen/Geometry>
54 
56 
57 // namespace tf2_ros
58 // {
59 // class StaticTransformBroadcaster;
60 // };
61 
62 namespace rviz_visual_tools
63 {
65 {
66 public:
71  explicit TFVisualTools(double loop_hz = 2);
72 
77  bool publishTransform(const Eigen::Affine3d& transform, const std::string& from_frame, const std::string& to_frame);
78 
85 
86 private:
87  // A shared node handle
89 
90  // Send tf messages
92 
93  // Separate thread to publish transforms
95 
96  // Collect the transfroms
97  std::vector<geometry_msgs::TransformStamped> transforms_;
98 }; // end class
99 
100 // Create boost pointers for this class
103 
104 } // namespace rviz_visual_tools
105 
106 #endif // RVIZ_VISUAL_TOOLS_TF_VISUAL_TOOLS_H
tf2_ros::TransformBroadcaster tf_pub_
bool publishTransform(const Eigen::Affine3d &transform, const std::string &from_frame, const std::string &to_frame)
Visualize transforms in Rviz, etc.
std::vector< geometry_msgs::TransformStamped > transforms_
void publishAllTransforms(const ros::TimerEvent &e)
At a certain frequency update the tf transforms that we are tracking This is called internally by a c...
TFVisualTools(double loop_hz=2)
Constructor.
boost::shared_ptr< const TFVisualTools > TFVisualToolsConstPtr
boost::shared_ptr< TFVisualTools > TFVisualToolsPtr


rviz_visual_tools
Author(s): Dave Coleman
autogenerated on Mon Jun 10 2019 15:05:18