tf_visual_tools.cpp

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/* Author: Dave Coleman <dave@dav.ee>
   Desc:   Helps debug and visualize transforms via the TF infrastructure
*/

#include <rviz_visual_tools/tf_visual_tools.h>

// TF
#include <eigen_conversions/eigen_msg.h>

// C++
#include <string>

namespace rviz_visual_tools
{
TFVisualTools::TFVisualTools(double loop_hz)
{
  ros::Duration update_freq = ros::Duration(1.0 / loop_hz);
  non_realtime_loop_ = nh_.createTimer(update_freq, &TFVisualTools::publishAllTransforms, this);

  ROS_INFO_STREAM_NAMED("tf_visual_tools", "TFVisualTools Ready.");
}

bool TFVisualTools::publishTransform(const Eigen::Affine3d& transform, const std::string& from_frame,
                                     const std::string& to_frame)
{
  ROS_DEBUG_STREAM_NAMED("tf_visual_tools", "Publishing transform from " << from_frame << " to " << to_frame);

  // Create transform msg
  geometry_msgs::TransformStamped tf2_msg;
  tf2_msg.header.stamp = ros::Time::now();
  tf::transformEigenToMsg(transform, tf2_msg.transform);

  // Prevent TF_DENORMALIZED_QUATERNION errors in TF2 from happening.
  double quatNorm;

  // Normalizing the Quaternion
  quatNorm = 1 / sqrt(tf2_msg.transform.rotation.x * tf2_msg.transform.rotation.x +
                      tf2_msg.transform.rotation.y * tf2_msg.transform.rotation.y +
                      tf2_msg.transform.rotation.z * tf2_msg.transform.rotation.z +
                      tf2_msg.transform.rotation.w * tf2_msg.transform.rotation.w);
  tf2_msg.transform.rotation.x *= quatNorm;
  tf2_msg.transform.rotation.y *= quatNorm;
  tf2_msg.transform.rotation.z *= quatNorm;
  tf2_msg.transform.rotation.w *= quatNorm;

  tf2_msg.header.frame_id = from_frame;
  tf2_msg.child_frame_id = to_frame;

  // Check if this transform has already been added
  for (auto& transform : transforms_)
  {
    if (transform.child_frame_id == to_frame && transform.header.frame_id == from_frame)
    {
      // ROS_WARN_STREAM_NAMED("tf_visual_tools", "This transform has already been added, updating");
      transform.transform = tf2_msg.transform;
      return true;
    }
  }
  // This transform is unique, add
  transforms_.push_back(tf2_msg);

  return true;
}

void TFVisualTools::publishAllTransforms(const ros::TimerEvent& /*e*/)
{
  ROS_DEBUG_STREAM_NAMED("tf_visual_tools", "Publishing transforms");

  // Update timestamps
  for (auto& transform : transforms_)
  {
    transform.header.stamp = ros::Time::now();
  }
  // Publish
  tf_pub_.sendTransform(transforms_);
}

}  // namespace rviz_visual_tools