pose_to_tf.cpp
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00001 /*********************************************************************
00002 *
00003 * Software License Agreement (BSD License)
00004 *
00005 *  Copyright (c) 2008, Willow Garage, Inc.
00006 *  All rights reserved.
00007 *
00008 *  Redistribution and use in source and binary forms, with or without
00009 *  modification, are permitted provided that the following conditions
00010 *  are met:
00011 *
00012 *   * Redistributions of source code must retain the above copyright
00013 *     notice, this list of conditions and the following disclaimer.
00014 *   * Redistributions in binary form must reproduce the above
00015 *     copyright notice, this list of conditions and the following
00016 *     disclaimer in the documentation and/or other materials provided
00017 *     with the distribution.
00018 *   * Neither the name of Willow Garage, Inc. nor the names of its
00019 *     contributors may be used to endorse or promote products derived
00020 *     from this software without specific prior written permission.
00021 *
00022 *  THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
00023 *  "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
00024 *  LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
00025 *  FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
00026 *  COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
00027 *  INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
00028 *  BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00029 *  LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
00030 *  CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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00034 *
00035 * Author: Wim Meeussen
00036 *********************************************************************/
00037 
00038 
00039 #include <ros/ros.h>
00040 #include <tf/transform_broadcaster.h>
00041 #include <tf/tf.h>
00042 #include <geometry_msgs/PoseWithCovarianceStamped.h>
00043 
00044 static tf::StampedTransform transform;
00045 static bool started;
00046 static std::string frame_id;
00047 
00048 
00049 void poseCallback(const geometry_msgs::PoseWithCovarianceStampedConstPtr& msg){
00050   started = true;
00051   tf::Transform tmp;
00052   tmp.setOrigin(tf::Vector3(msg->pose.pose.position.x, msg->pose.pose.position.y, msg->pose.pose.position.z));
00053   tmp.setRotation(tf::Quaternion(msg->pose.pose.orientation.x, msg->pose.pose.orientation.y, msg->pose.pose.orientation.z, msg->pose.pose.orientation.w));
00054   transform = tf::StampedTransform(tmp, msg->header.stamp, msg->header.frame_id, frame_id);
00055 }
00056 
00057 
00058 
00059 int main(int argc, char** argv){
00060   ros::init(argc, argv, "pose_to_tf");
00061   ros::NodeHandle node("~");
00062   node.param("frame_id", frame_id, std::string("frame_id_not_specified"));
00063   tf::TransformBroadcaster br;
00064   started = false;
00065 
00066   ros::NodeHandle node_top;
00067   ros::Subscriber sub = node_top.subscribe("pose", 10, &poseCallback);
00068 
00069   ros::Rate rate(50.0);
00070   while (ros::ok()){
00071     if (started)
00072       br.sendTransform(transform);
00073     ros::spinOnce();
00074     rate.sleep();
00075   }
00076   return 0;
00077 }


pr2_plugs_common
Author(s): Wim Meeussen and Melonee Wise
autogenerated on Mon Dec 2 2013 13:23:36