Program Listing for File tf_visual_tools.hpp

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// Copyright 2021 PickNik Inc.
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/* Author: Dave Coleman <dave@picknik.ai>
   Desc:   Helps debug and visualize transforms via the TF infrastructure
   Note:   We shouldn't have to publish the transforms at interval since they are static, but we do
   because of https://github.com/ros/geometry_experimental/issues/108
*/

#pragma once

// C++
#include <vector>
#include <string>

// ROS
#include <rclcpp/rclcpp.hpp>
#include <geometry_msgs/msg/transform_stamped.hpp>

// Eigen
#include <Eigen/Geometry>

#include <tf2_ros/transform_broadcaster.h>

// namespace tf2_ros
// {
// class StaticTransformBroadcaster;
// };

namespace rviz_visual_tools
{
class TFVisualTools
{
public:
  TFVisualTools(const rclcpp::Node::SharedPtr& node, double loop_hz = 2);
  bool publishTransform(const Eigen::Isometry3d& transform, const std::string& from_frame,
                        const std::string& to_frame);

  void clearAllTransforms();

private:
  void publishAllTransforms();

  // Node Interfaces
  // rclcpp::node_interfaces::NodeTopicsInterface::SharedPtr topics_interface_;
  // rclcpp::node_interfaces::NodeGraphInterface::SharedPtr graph_interface_;
  // rclcpp::node_interfaces::NodeLoggingInterface::SharedPtr logging_interface_;

  rclcpp::node_interfaces::NodeBaseInterface::SharedPtr node_base_interface_;
  rclcpp::node_interfaces::NodeTimersInterface::SharedPtr timers_interface_;
  rclcpp::node_interfaces::NodeClockInterface::SharedPtr clock_interface_;
  rclcpp::Logger logger_;

  // Send tf messages
  std::shared_ptr<tf2_ros::TransformBroadcaster> tf_broadcaster_;

  // Separate thread to publish transforms
  rclcpp::TimerBase::SharedPtr non_realtime_loop_;

  // Collect the transfroms
  std::vector<geometry_msgs::msg::TransformStamped> transforms_;
};  // end class

// Create boost pointers for this class
typedef std::shared_ptr<TFVisualTools> TFVisualToolsPtr;
typedef std::shared_ptr<const TFVisualTools> TFVisualToolsConstPtr;

}  // namespace rviz_visual_tools