pose_logger.cpp

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/*
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 * $Id: transform_pointcloud.cpp 30719 2010-07-09 20:28:41Z rusu $
 *
 */

// ROS core
#include <ros/ros.h>

#include <tf/transform_listener.h>

#include <fstream>
#include <iostream>

using namespace std;

class PoseLogger
{
protected:
  ros::NodeHandle nh_;

public:

  ros::Subscriber sub_;
  ros::Publisher pub_;
  tf::TransformListener tf_;

  PoseLogger  (ros::NodeHandle &n) : nh_(n)
  {

  }

  // cloud_cb (!)
  void spin (double rate)
  {
    ros::Rate loop_rate(rate);
    std::ofstream a_file ( "poses.txt" );
    a_file<< "time" << " " << "x" << " " << "y" << std::endl;
    // Outputs to example.txt through a_file

    // Close the file stream explicitly

    while (ros::ok())
      {
        ros::Time time;
        time = ros::Time::now();
        bool found_transform = tf_.waitForTransform("map", "/base_link",
                                                    time, ros::Duration(1.0));
        if (found_transform)
          {
            //ROS_ASSERT_MSG(found_transform, "Could not transform to camera frame");
            tf::StampedTransform transform;
            tf_.lookupTransform("map", "base_link", time, transform);
            std::cerr << time << " " << transform.getOrigin().x() << " " << transform.getOrigin().y() << std::endl;
            a_file<< time << " " << transform.getOrigin().x() << " " << transform.getOrigin().y() << std::endl;
          }
        ros::spinOnce();
        loop_rate.sleep();
      }
    a_file.close();
  }
};

int main (int argc, char** argv)
{
  ros::init (argc, argv, "pose_logger_node");
  if (argc != 2)
    {
      ROS_ERROR("Usage %s <logging rate>", argv[0]);
      exit (0);
    }
  ros::NodeHandle n("~");
  PoseLogger tp(n);
  tp.spin(atof(argv[1]));
  //  ros::spin ();
  return (0);
}

/* ]--- */