urdf.cpp

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/*
 * Copyright (c) 2010, Willow Garage, Inc.
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#include <rve_common_transformers/urdf.h>
#include <rve_transformer/transformer_manager.h>
#include <rve_transformer/frame_manager.h>
#include <rve_properties/property_node.h>
#include <rve_properties/messages.h>
#include <rve_render_client/urdf.h>

#include <tf2/exceptions.h>

#include <urdf/model.h>

#include <rve_msgs/make_vector3.h>
#include <rve_msgs/make_quaternion.h>
#include <rve_common/eigen_conversions.h>
#include <geometry_msgs/TransformStamped.h>

namespace rve_common_transformers
{

URDF::URDF()
{
}

URDF::~URDF()
{
  getPropertyNode()->removeChangeCallback(this);
}

void URDF::onInit()
{
  //getPropertyNode()->addChangeCallback(boost::bind(&URDF::onPropertyChanged, this, _1, _2, _3), this, getCallbackQueue());

  urdf::Model m;
  m.initParam("robot_description");
  urdf_ = addObject(rve_render_client::createURDF(m));
}

void URDF::onUpdate()
{
  rve_transformer::FrameManagerPtr frame_manager = getManager()->getFrameManager();
  rve_render_client::URDF::LinkIterator it = urdf_->linksBegin();
  rve_render_client::URDF::LinkIterator end = urdf_->linksEnd();
  for (; it != end; ++it)
  {
    const rve_render_client::URDFLinkPtr& link = *it;
    const std::string link_name = link->getName();

    try
    {
      geometry_msgs::TransformStamped transform = frame_manager->lookupTransform(link_name, ros::Time());
      const geometry_msgs::Vector3& v = transform.transform.translation;
      const geometry_msgs::Quaternion& q = transform.transform.rotation;

      link->setTransform(rve_msgs::makeVector3(v.x, v.y, v.z), rve_msgs::makeQuaternion(q.x, q.y, q.z, q.w));
    }
    catch (tf2::TransformException& e)
    {
      ROS_ERROR("TransformException: %s", e.what());
    }
  }
}

void URDF::onPropertyChanged(const rve_properties::PropertyNodePtr& node, const std::string& path, rve_properties::PropertyChangeType type)
{
  if (type != rve_properties::PropertyChanged)
  {
    return;
  }

}

} // namespace rve_common_transformers