pose2Tf.cpp

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/*
 * Software License Agreement (Modified BSD License)
 *
 *  Copyright (c) 2012, PAL Robotics, S.L.
 *  All rights reserved.
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 *     copyright notice, this list of conditions and the following
 *     disclaimer in the documentation and/or other materials provided
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#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <geometry_msgs/Pose.h>
#include <blort_ros/pose_util.h>
#include <string>

std::string parent_name;
std::string child_name;

void poseCallback(const geometry_msgs::Pose &msg)
{
    static tf::TransformBroadcaster br;
    tf::Transform target_transform = pal_vision_util::rosPose2TfTransform(msg);
    br.sendTransform( tf::StampedTransform(target_transform, ros::Time::now(), parent_name, child_name));
}

int main(int argc, char** argv){
    ros::init(argc, argv, "pose2Tf");
    ros::NodeHandle nh;
    if(argc < 3)
    {
        ROS_ERROR("pose2Tf node requires a parent and a child name to publish to tf.");
        return -1;
    }

    parent_name = std::string(argv[1]);
    child_name = std::string(argv[2]);

    ros::Subscriber sub = nh.subscribe("/pose", 10, &poseCallback);
    ros::spin();
    return 0;
};