frame_manager.cpp
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00001 /*
00002  * Copyright (c) 2009, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include "frame_manager.h"
00031 #include "display.h"
00032 #include "properties/property.h"
00033 
00034 #include <tf/transform_listener.h>
00035 #include <ros/ros.h>
00036 
00037 namespace rviz
00038 {
00039 
00040 FrameManagerPtr FrameManager::instance()
00041 {
00042   static FrameManagerWPtr instw;
00043 
00044   FrameManagerPtr inst = instw.lock();
00045   if (!inst)
00046   {
00047     inst.reset(new FrameManager);
00048     instw = inst;
00049   }
00050 
00051   return inst;
00052 }
00053 
00054 FrameManager::FrameManager()
00055 {
00056   tf_ = new tf::TransformListener(ros::NodeHandle(), ros::Duration(10*60), false);
00057 }
00058 
00059 FrameManager::~FrameManager()
00060 {
00061   delete tf_;
00062 }
00063 
00064 void FrameManager::update()
00065 {
00066   boost::mutex::scoped_lock lock(cache_mutex_);
00067   cache_.clear();
00068 }
00069 
00070 void FrameManager::setFixedFrame(const std::string& frame)
00071 {
00072   boost::mutex::scoped_lock lock(cache_mutex_);
00073   fixed_frame_ = frame;
00074   cache_.clear();
00075 }
00076 
00077 bool FrameManager::getTransform(const std::string& frame, ros::Time time, Ogre::Vector3& position, Ogre::Quaternion& orientation)
00078 {
00079   boost::mutex::scoped_lock lock(cache_mutex_);
00080 
00081   position = Ogre::Vector3(9999999, 9999999, 9999999);
00082   orientation = Ogre::Quaternion::IDENTITY;
00083 
00084   if (fixed_frame_.empty())
00085   {
00086     return false;
00087   }
00088 
00089   M_Cache::iterator it = cache_.find(CacheKey(frame, time));
00090   if (it != cache_.end())
00091   {
00092     position = it->second.position;
00093     orientation = it->second.orientation;
00094     return true;
00095   }
00096 
00097   geometry_msgs::Pose pose;
00098   pose.orientation.w = 1.0f;
00099 
00100   if (!transform(frame, time, pose, position, orientation))
00101   {
00102     return false;
00103   }
00104 
00105   cache_.insert(std::make_pair(CacheKey(frame, time), CacheEntry(position, orientation)));
00106 
00107   return true;
00108 }
00109 
00110 bool FrameManager::transform(const std::string& frame, ros::Time time, const geometry_msgs::Pose& pose_msg, Ogre::Vector3& position, Ogre::Quaternion& orientation)
00111 {
00112   position = Ogre::Vector3::ZERO;
00113   orientation = Ogre::Quaternion::IDENTITY;
00114 
00115   // put all pose data into a tf stamped pose
00116   tf::Quaternion bt_orientation(pose_msg.orientation.x, pose_msg.orientation.y, pose_msg.orientation.z, pose_msg.orientation.w);
00117   tf::Vector3 bt_position(pose_msg.position.x, pose_msg.position.y, pose_msg.position.z);
00118 
00119   if (bt_orientation.x() == 0.0 && bt_orientation.y() == 0.0 && bt_orientation.z() == 0.0 && bt_orientation.w() == 0.0)
00120   {
00121     bt_orientation.setW(1.0);
00122   }
00123 
00124   tf::Stamped<tf::Pose> pose_in(tf::Transform(bt_orientation,bt_position), time, frame);
00125   tf::Stamped<tf::Pose> pose_out;
00126 
00127   // convert pose into new frame
00128   try
00129   {
00130     tf_->transformPose( fixed_frame_, pose_in, pose_out );
00131   }
00132   catch(tf::TransformException& e)
00133   {
00134     ROS_DEBUG("Error transforming from frame '%s' to frame '%s': %s", frame.c_str(), fixed_frame_.c_str(), e.what());
00135     return false;
00136   }
00137 
00138   bt_position = pose_out.getOrigin();
00139   position = Ogre::Vector3(bt_position.x(), bt_position.y(), bt_position.z());
00140 
00141   bt_orientation = pose_out.getRotation();
00142   orientation = Ogre::Quaternion( bt_orientation.w(), bt_orientation.x(), bt_orientation.y(), bt_orientation.z() );
00143 
00144   return true;
00145 }
00146 
00147 bool FrameManager::frameHasProblems(const std::string& frame, ros::Time time, std::string& error)
00148 {
00149   if (!tf_->frameExists(frame))
00150   {
00151     error = "Frame [" + frame + "] does not exist";
00152     if (frame == fixed_frame_)
00153     {
00154       error = "Fixed " + error;
00155     }
00156     return true;
00157   }
00158 
00159   return false;
00160 }
00161 
00162 bool FrameManager::transformHasProblems(const std::string& frame, ros::Time time, std::string& error)
00163 {
00164   std::string tf_error;
00165   bool transform_succeeded = tf_->canTransform(fixed_frame_, frame, time, &tf_error);
00166   if (transform_succeeded)
00167   {
00168     return false;
00169   }
00170 
00171   bool ok = true;
00172   ok = ok && !frameHasProblems(fixed_frame_, time, error);
00173   ok = ok && !frameHasProblems(frame, time, error);
00174 
00175   if (ok)
00176   {
00177     std::stringstream ss;
00178     ss << "No transform to fixed frame [" << fixed_frame_ << "].  TF error: [" << tf_error << "]";
00179     error = ss.str();
00180     ok = false;
00181   }
00182 
00183   {
00184     std::stringstream ss;
00185     ss << "For frame [" << frame << "]: " << error;
00186     error = ss.str();
00187   }
00188 
00189   return !ok;
00190 }
00191 
00192 std::string getTransformStatusName(const std::string& caller_id)
00193 {
00194   std::stringstream ss;
00195   ss << "Transform [sender=" << caller_id << "]";
00196   return ss.str();
00197 }
00198 
00199 std::string FrameManager::discoverFailureReason(const std::string& frame_id, const ros::Time& stamp, const std::string& caller_id, tf::FilterFailureReason reason)
00200 {
00201   if (reason == tf::filter_failure_reasons::OutTheBack)
00202   {
00203     std::stringstream ss;
00204     ss << "Message removed because it is too old (frame=[" << frame_id << "], stamp=[" << stamp << "])";
00205     return ss.str();
00206   }
00207   else
00208   {
00209     std::string error;
00210     if (transformHasProblems(frame_id, stamp, error))
00211     {
00212       return error;
00213     }
00214   }
00215 
00216   return "Unknown reason for transform failure";
00217 }
00218 
00219 void FrameManager::messageArrived(const std::string& frame_id, const ros::Time& stamp, const std::string& caller_id, Display* display)
00220 {
00221   display->setStatus(status_levels::Ok, getTransformStatusName(caller_id), "Transform OK");
00222 }
00223 
00224 void FrameManager::messageFailed(const std::string& frame_id, const ros::Time& stamp, const std::string& caller_id, tf::FilterFailureReason reason, Display* display)
00225 {
00226   std::string status_name = getTransformStatusName(caller_id);
00227   std::string status_text = discoverFailureReason(frame_id, stamp, caller_id, reason);
00228 
00229   display->setStatus(status_levels::Error, status_name, status_text);
00230 }
00231 
00232 }


rviz
Author(s): Dave Hershberger, Josh Faust
autogenerated on Mon Jan 6 2014 11:54:32