robot_state_publisher.h

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/* Author: Wim Meeussen */

#ifndef ROBOT_STATE_PUBLISHER_H
#define ROBOT_STATE_PUBLISHER_H

#include <ros/ros.h>
#include <tf/tf.h>
#include <tf/tfMessage.h>
#include <kdl/tree.hpp>

namespace robot_state_chain_publisher{

    class RobotStatePublisher
    {
    public:
        RobotStatePublisher(const KDL::Tree& tree);
        ~RobotStatePublisher(){};

        class JointState {
        public:
          double pos;
          ros::Time time;
          bool published;
        };

        bool publishTransforms(std::map<std::string, RobotStatePublisher::JointState >& joint_positions, const ros::Time& time, const ros::Time& republish_time);

    private:
        ros::NodeHandle n_;
        ros::Publisher tf_publisher_;
        KDL::Tree tree_;
        std::string root_;
        bool ignore_root;
        std::string tf_prefix_;
        tf::tfMessage tf_msg_;

        class empty_tree_exception: public std::exception{
            virtual const char* what() const throw(){
                return "Tree is empty";}
        } empty_tree_ex;

        void addChildTransforms(std::map<std::string, RobotStatePublisher::JointState >& joint_positions, const KDL::SegmentMap::const_iterator segment, int &tf_index, const ros::Time &time, const ros::Time& republish_time);

    };
}

#endif