robot_pose_publisher.cpp

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#include <geometry_msgs/Pose.h>
#include <ros/ros.h>
#include <tf/transform_listener.h>

int main(int argc, char ** argv)
{
  // initialize ROS and the node
  ros::init(argc, argv, "robot_pose_publisher");
  ros::NodeHandle nh;

  ros::Publisher pose_pub = nh.advertise<geometry_msgs::Pose>("/robot_pose", 1);

  // create the listener
  tf::TransformListener listener;
  listener.waitForTransform("/map", "/base_link", ros::Time(), ros::Duration(1.0));

  ros::Rate rate(10.0);
  while (nh.ok())
  {
    tf::StampedTransform transform;
    try
    {
      listener.lookupTransform("/map", "/base_link", ros::Time(0), transform);
    }
    catch (tf::TransformException &ex)
    {
      ROS_ERROR("%s", ex.what());
    }

    // construct a pose message
    geometry_msgs::Pose pose;
    pose.orientation.x = transform.getRotation().getX();
    pose.orientation.y = transform.getRotation().getY();
    pose.orientation.z = transform.getRotation().getZ();
    pose.orientation.w = transform.getRotation().getW();

    pose.position.x = transform.getOrigin().getX();
    pose.position.y = transform.getOrigin().getY();
    pose.position.z = transform.getOrigin().getZ();

    pose_pub.publish(pose);

    rate.sleep();
  }

  return EXIT_SUCCESS;
}