Class GTNode

Inheritance Relationships

Base Type

  • public rclcpp::Node

Class Documentation

class GTNode : public rclcpp::Node

Public Functions

explicit GTNode(const rclcpp::NodeOptions &options = rclcpp::NodeOptions())

Protected Functions

void rigid_bodies_callback(const mocap4r2_msgs::msg::RigidBodies::SharedPtr msg)
void set_gt_origin_callback(const std::shared_ptr<mocap4r2_robot_gt_msgs::srv::SetGTOrigin::Request> req, std::shared_ptr<mocap4r2_robot_gt_msgs::srv::SetGTOrigin::Response> resp)
geometry_msgs::msg::Pose get_pose_from_vector(const std::vector<double> &init_pos)

Protected Attributes

tf2::BufferCore tf_buffer_
tf2_ros::TransformListener tf_listener_
std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_
rclcpp::Subscription<mocap4r2_msgs::msg::RigidBodies>::SharedPtr rigid_body_sub_
rclcpp::Service<mocap4r2_robot_gt_msgs::srv::SetGTOrigin>::SharedPtr set_gt_origin_srv_
std::string root_frame_
std::string robot_frame_
std::string mocap_frame_
tf2::Transform offset_
tf2::Transform gtbody2robot_
tf2::Transform mocap2gtbody_
bool valid_gtbody2robot_ = {false}