minimal_test.cpp

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 * Author: Steve Macenski (steven.macenski@simberobotics.com)
 * Purpose: Test minimum configuration of costmap_2d
/*********************************************************************/
 
 
#include <ros/ros.h>
#include <costmap_2d/costmap_2d_ros.h>
#include <tf/transform_broadcaster.h>
#include <thread>
 
#include "tf2_ros/transform_listener.h"
#include "tf2_ros/message_filter.h"
#include "message_filters/subscriber.h"
#include "tf2_geometry_msgs/tf2_geometry_msgs.h"
 
 
/*****************************************************************************/
void TransformThread()
/*****************************************************************************/
{
  tf::TransformBroadcaster tfB;
  tf::Transform transform;
  transform.setIdentity();
  transform.setOrigin(tf::Vector3(2.,2.,0.));
 
  ros::Rate r(20);
  while (ros::ok())
  {
    tfB.sendTransform(tf::StampedTransform(transform, ros::Time::now(), \
                                                        "map", "base_link"));
    tfB.sendTransform(tf::StampedTransform(transform, ros::Time::now(), \
                                                "base_link", "camera_link"));
    r.sleep();
    ros::spinOnce();
  }
}
 
/*****************************************************************************/
int main(int argc, char **argv)
/*****************************************************************************/
{
  ros::init(argc, argv, "STVL_minimal_test");
 
  tf2_ros::Buffer tf_buffer;
  tf2_ros::TransformListener _tf2(tf_buffer);
  std::thread t(TransformThread);
 
  costmap_2d::Costmap2DROS costmap("global_costmap", tf_buffer);
  costmap.start();
 
  ros::Rate r(10);
  while (ros::ok())
  {
    // then make a thread to do something with a costmap pointer...
    ros::spinOnce();
    r.sleep();
  }
  return 1;
}