buffer_server_main.cpp
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35 * Author: Wim Meeussen
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37 #include <tf2_ros/buffer_server.h>
39 #include <ros/ros.h>
40 
41 int main(int argc, char** argv)
42 {
43  ros::init(argc, argv, "tf_buffer");
44  ros::NodeHandle nh;
45 
46  double buffer_size;
47  nh.param("buffer_size", buffer_size, 120.0);
48 
49  bool publish_frame_service;
50  nh.param("publish_frame_service", publish_frame_service, false);
51 
52  // Legacy behavior re: #209
53  bool use_node_namespace;
54  nh.param("use_node_namespace", use_node_namespace, false);
55  std::string node_name;
56  if (use_node_namespace)
57  {
58  node_name = ros::this_node::getName();
59  }
60  else
61  {
62  node_name = "tf2_buffer_server";
63  }
64 
65  tf2_ros::Buffer buffer_core(ros::Duration(buffer_size), publish_frame_service);
66  tf2_ros::TransformListener listener(buffer_core);
67  tf2_ros::BufferServer buffer_server(buffer_core, node_name , false);
68  buffer_server.start();
69 
70  ros::spin();
71 }
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 &param_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 Wed May 12 2021 15:52:49