tf_visual_tools.h

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/* Author: Dave Coleman <dave@dav.ee>
   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
*/

#ifndef RVIZ_VISUAL_TOOLS_TF_VISUAL_TOOLS_H
#define RVIZ_VISUAL_TOOLS_TF_VISUAL_TOOLS_H

// C++
#include <vector>
#include <string>

// ROS
#include <ros/ros.h>
#include <geometry_msgs/TransformStamped.h>

// Eigen
#include <Eigen/Geometry>

#include <tf2_ros/transform_broadcaster.h>

// namespace tf2_ros
// {
// class StaticTransformBroadcaster;
// };

namespace rviz_visual_tools
{
class TFVisualTools
{
public:
  explicit TFVisualTools(double loop_hz = 2);

  bool publishTransform(const Eigen::Affine3d& transform, const std::string& from_frame, const std::string& to_frame);

  void publishAllTransforms(const ros::TimerEvent& e);

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

  // Send tf messages
  tf2_ros::TransformBroadcaster tf_pub_;

  // Separate thread to publish transforms
  ros::Timer non_realtime_loop_;

  // Collect the transfroms
  std::vector<geometry_msgs::TransformStamped> transforms_;
};  // end class

// Create boost pointers for this class
typedef boost::shared_ptr<TFVisualTools> TFVisualToolsPtr;
typedef boost::shared_ptr<const TFVisualTools> TFVisualToolsConstPtr;

}  // namespace rviz_visual_tools

#endif  // RVIZ_VISUAL_TOOLS_TF_VISUAL_TOOLS_H