transformpublisher.h

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#ifndef TRANSFORMPUBLISHER_H
#define TRANSFORMPUBLISHER_H
 
#include "packetcallback.h"
#include <geometry_msgs/TransformStamped.h>
#include <tf2_ros/transform_broadcaster.h>
 
struct TransformPublisher : public PacketCallback
{
    tf2_ros::TransformBroadcaster tf_broadcaster;
    std::string frame_id = DEFAULT_FRAME_ID;
 
 
    TransformPublisher(ros::NodeHandle &node) : tf_broadcaster()
    {
        ros::param::get("~frame_id", frame_id);
    }
 
    void operator()(const XsDataPacket &packet, ros::Time timestamp)
    {
        if (packet.containsOrientation())
        {
            geometry_msgs::TransformStamped tf;
 
            XsQuaternion q = packet.orientationQuaternion();
 
            tf.header.stamp = timestamp;
            tf.header.frame_id = "world";
            tf.child_frame_id = frame_id;
            tf.transform.translation.x = 0.0;
            tf.transform.translation.y = 0.0;
            tf.transform.translation.z = 0.0;
            tf.transform.rotation.x = q.x();
            tf.transform.rotation.y = q.y();
            tf.transform.rotation.z = q.z();
            tf.transform.rotation.w = q.w();
 
            tf_broadcaster.sendTransform(tf);
        }
    }
};
 
#endif