Program Listing for File transform_collection.h

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// Copyright 2008 Willow Garage, Inc.
//
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// modification, are permitted provided that the following conditions are met:
//
//    * Redistributions of source code must retain the above copyright
//      notice, this list of conditions and the following disclaimer.
//
//    * Redistributions in binary form must reproduce the above copyright
//      notice, this list of conditions and the following disclaimer in the
//      documentation and/or other materials provided with the distribution.
//
//    * Neither the name of the Willow Garage, Inc. nor the names of its
//      contributors may be used to endorse or promote products derived from
//      this software without specific prior written permission.
//
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
// AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
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#ifndef WAREHOUSE_ROS_TF_COLLECTION_H
#define WAREHOUSE_ROS_TF_COLLECTION_H

#include <warehouse_ros/message_collection.h>
#include <tf2_ros/transform_listener.h>
#include <tf2_msgs/msg/tf_message.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>
// TODO(v4hn): remove after EOL galactic
#if __has_include(<tf2_geometry_msgs/tf2_geometry_msgs.hpp>)
#include <tf2_geometry_msgs/tf2_geometry_msgs.hpp>
#else
#include <tf2_geometry_msgs/tf2_geometry_msgs.h>
#endif
#include <tf2_ros/buffer.h>

namespace warehouse_ros
{
class TransformSource
{
public:
  virtual geometry_msgs::msg::TransformStamped lookupTransform(const std::string& target_frame,
                                                               const std::string& source_frame, double t) const = 0;
};

class TransformCollection : public TransformSource
{
public:
  TransformCollection(MessageCollection<tf2_msgs::msg::TFMessage>& coll, const double search_back = 10.0,
                      const double search_forward = 1.0)
    : TransformSource(), coll_(coll), search_back_(search_back), search_forward_(search_forward)
  {
    node_ = rclcpp::Node::make_shared("TransformCollection");
    rclcpp::Clock::SharedPtr clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
    tf_buffer_ = std::make_shared<tf2_ros::Buffer>(clock);
  }

  geometry_msgs::msg::TransformStamped lookupTransform(const std::string& target_frame, const std::string& source_frame,
                                                       double t) const override;

  void putTransform(geometry_msgs::msg::TransformStamped);

private:
  MessageCollection<tf2_msgs::msg::TFMessage> coll_;
  rclcpp::Node::SharedPtr node_;
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
  double search_back_;
  double search_forward_;
};

class LiveTransformSource : public TransformSource
{
public:
  LiveTransformSource(double timeout = 0) : TransformSource()
  {
    timeout_ = tf2::durationFromSec(timeout);

    node_ = rclcpp::Node::make_shared("LiveTransformSource");
    rclcpp::Clock::SharedPtr clock = std::make_shared<rclcpp::Clock>(RCL_SYSTEM_TIME);
    tf_buffer_ = std::make_shared<tf2_ros::Buffer>(clock);
    tf_ = std::make_shared<tf2_ros::TransformListener>(*tf_buffer_, node_, false);
  }

  geometry_msgs::msg::TransformStamped lookupTransform(const std::string& target, const std::string& source,
                                                       double t) const override
  {
    tf2::TimePoint tm = tf2::timeFromSec(t);
    geometry_msgs::msg::TransformStamped trans =
        tf_buffer_->lookupTransform(target, source, tm, timeout_);  // Can throw
    return trans;
  }

private:
  rclcpp::Node::SharedPtr node_;
  std::shared_ptr<tf2_ros::Buffer> tf_buffer_;
  std::shared_ptr<tf2_ros::TransformListener> tf_;
  tf2::Duration timeout_;
};

}  // namespace warehouse_ros

#endif  // include guard