robot_state_publisher.h

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/* Author: Wim Meeussen */
 
#ifndef ROBOT_STATE_PUBLISHER_H
#define ROBOT_STATE_PUBLISHER_H
 
#include <map>
#include <string>
 
#include <ros/ros.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();
 
  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);
  virtual void publishFixedTransforms(bool use_tf_static = false);
 
  void publishTransforms(const std::map<std::string, double>& joint_positions, const ros::Time& time, const std::string & tf_prefix);
  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_;
  urdf::Model model_;
  tf2_ros::TransformBroadcaster tf_broadcaster_;
  tf2_ros::StaticTransformBroadcaster static_tf_broadcaster_;
};
 
}
 
#endif