tf_visual_tools.h

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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 <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::Isometry3d& transform, const std::string& from_frame, const std::string& to_frame);
 
  void clearAllTransforms();
 
  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