robot_state_publisher.h
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34 
35 /* Author: Wim Meeussen */
36 
37 #ifndef ROBOT_STATE_PUBLISHER_H
38 #define ROBOT_STATE_PUBLISHER_H
39 
40 #include <ros/ros.h>
41 #include <boost/scoped_ptr.hpp>
42 #include <tf/tf.h>
43 #include <urdf/model.h>
46 #include <kdl/frames.hpp>
47 #include <kdl/segment.hpp>
48 #include <kdl/tree.hpp>
49 
50 namespace robot_state_publisher {
51 
53 {
54 public:
55  SegmentPair(const KDL::Segment& p_segment, const std::string& p_root, const std::string& p_tip):
56  segment(p_segment), root(p_root), tip(p_tip){}
57 
59  std::string root, tip;
60 };
61 
62 
64 {
65 public:
69  RobotStatePublisher(const KDL::Tree& tree, const urdf::Model& model = urdf::Model());
70 
73 
78  virtual void publishTransforms(const std::map<std::string, double>& joint_positions, const ros::Time& time, const std::string& tf_prefix);
79  virtual void publishFixedTransforms(const std::string& tf_prefix, bool use_tf_static = false);
80 
81 protected:
82  virtual void addChildren(const KDL::SegmentMap::const_iterator segment);
83 
84  std::map<std::string, SegmentPair> segments_, segments_fixed_;
88 };
89 
90 }
91 
92 #endif
std::map< std::string, SegmentPair > segments_fixed_
tf2_ros::TransformBroadcaster tf_broadcaster_
SegmentPair(const KDL::Segment &p_segment, const std::string &p_root, const std::string &p_tip)
tf2_ros::StaticTransformBroadcaster static_tf_broadcaster_


robot_state_publisher
Author(s): Ioan Sucan , Jackie Kay , Wim Meeussen
autogenerated on Thu Oct 8 2020 03:35:00