tf_rt_broadcaster.cpp

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//
// Created by qiayuan on 1/3/21.
//
#include "rm_common/tf_rt_broadcaster.h"
 
#include <vector>
#include <tf2_msgs/TFMessage.h>
 
namespace rm_common
{
void TfRtBroadcaster::init(ros::NodeHandle& root_nh)
{
  realtime_pub_.reset(new realtime_tools::RealtimePublisher<tf2_msgs::TFMessage>(root_nh, "/tf", 100));
}
 
void TfRtBroadcaster::sendTransform(const geometry_msgs::TransformStamped& transform)
{
  std::vector<geometry_msgs::TransformStamped> v1;
  v1.push_back(transform);
  sendTransform(v1);
}
 
void TfRtBroadcaster::sendTransform(const std::vector<geometry_msgs::TransformStamped>& transforms)
{
  tf2_msgs::TFMessage message;
  for (const auto& transform : transforms)
  {
    message.transforms.push_back(transform);
  }
  if (realtime_pub_->trylock())
  {
    realtime_pub_->msg_ = message;
    realtime_pub_->unlockAndPublish();
  }
}
 
void StaticTfRtBroadcaster::init(ros::NodeHandle& root_nh)
{
  realtime_pub_.reset(new realtime_tools::RealtimePublisher<tf2_msgs::TFMessage>(root_nh, "/tf_static", 100, true));
}
 
void StaticTfRtBroadcaster::sendTransform(const geometry_msgs::TransformStamped& transform)
{
  std::vector<geometry_msgs::TransformStamped> v1;
  v1.push_back(transform);
  sendTransform(v1);
}
 
void StaticTfRtBroadcaster::sendTransform(const std::vector<geometry_msgs::TransformStamped>& transforms)
{
  for (const auto& transform : transforms)
  {
    bool match_found = false;
    for (auto& it_msg : net_message_.transforms)
    {
      if (transform.child_frame_id == it_msg.child_frame_id)
      {
        it_msg = transform;
        match_found = true;
        break;
      }
    }
    if (!match_found)
      net_message_.transforms.push_back(transform);
  }
  if (realtime_pub_->trylock())
  {
    realtime_pub_->msg_ = net_message_;
    realtime_pub_->unlockAndPublish();
  }
}
 
}  // namespace rm_common