src
buffer_server_main.cpp
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/*********************************************************************
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*
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* Software License Agreement (BSD License)
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*
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* Copyright (c) 2009, Willow Garage, Inc.
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* All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* * Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* * Redistributions in binary form must reproduce the above
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* copyright notice, this list of conditions and the following
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* disclaimer in the documentation and/or other materials provided
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* with the distribution.
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* * Neither the name of Willow Garage, Inc. nor the names of its
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* contributors may be used to endorse or promote products derived
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* from this software without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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* LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
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* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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* Author: Wim Meeussen
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*********************************************************************/
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#include <
tf2_ros/buffer_server.h
>
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#include <
tf2_ros/transform_listener.h
>
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#include <
ros/ros.h
>
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int
main
(
int
argc,
char
** argv)
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{
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ros::init
(argc, argv,
"tf_buffer"
);
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ros::NodeHandle
nh;
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double
buffer_size;
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nh.
param
(
"buffer_size"
, buffer_size, 120.0);
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bool
publish_frame_service;
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nh.
param
(
"publish_frame_service"
, publish_frame_service,
false
);
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// Legacy behavior re: #209
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bool
use_node_namespace;
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nh.
param
(
"use_node_namespace"
, use_node_namespace,
false
);
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std::string node_name;
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if
(use_node_namespace)
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{
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node_name =
ros::this_node::getName
();
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}
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else
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{
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node_name =
"tf2_buffer_server"
;
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}
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tf2_ros::Buffer
buffer_core(
ros::Duration
(buffer_size), publish_frame_service);
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tf2_ros::TransformListener
listener(buffer_core);
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tf2_ros::BufferServer
buffer_server(buffer_core, node_name ,
false
);
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buffer_server.
start
();
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ros::spin
();
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}
tf2_ros::BufferServer
Action server for the actionlib-based implementation of tf2_ros::BufferInterface.
Definition:
buffer_server.h:87
ros::init
ROSCPP_DECL void init(const M_string &remappings, const std::string &name, uint32_t options=0)
ros.h
buffer_server.h
tf2_ros::TransformListener
This class provides an easy way to request and receive coordinate frame transform information.
Definition:
transform_listener.h:48
transform_listener.h
tf2_ros::Buffer
Standard implementation of the tf2_ros::BufferInterface abstract data type.
Definition:
buffer.h:51
tf2_ros::BufferServer::start
void start()
Start the action server.
Definition:
buffer_server.cpp:252
main
int main(int argc, char **argv)
Definition:
buffer_server_main.cpp:41
ros::this_node::getName
const ROSCPP_DECL std::string & getName()
ros::NodeHandle::param
T param(const std::string ¶m_name, const T &default_val) const
ros::spin
ROSCPP_DECL void spin()
ros::Duration
ros::NodeHandle
tf2_ros
Author(s): Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Sun Feb 4 2024 03:18:16