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 00031 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00032 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00033 * POSSIBILITY OF SUCH DAMAGE. 00034 * 00035 * Author: Eitan Marder-Eppstein 00036 *********************************************************************/ 00037 #include <ros/ros.h> 00038 #include <geometry_msgs/PointStamped.h> 00039 #include <tf/transform_listener.h> 00040 00041 void transformPoint(const tf::TransformListener& listener){ 00042 //we'll create a point in the base_laser frame that we'd like to transform to the base_link frame 00043 geometry_msgs::PointStamped laser_point; 00044 laser_point.header.frame_id = "base_laser"; 00045 00046 //we'll just use the most recent transform available for our simple example 00047 laser_point.header.stamp = ros::Time(); 00048 00049 //just an arbitrary point in space 00050 laser_point.point.x = 1.0; 00051 laser_point.point.y = 0.2; 00052 laser_point.point.z = 0.0; 00053 00054 try{ 00055 geometry_msgs::PointStamped base_point; 00056 listener.transformPoint("base_link", laser_point, base_point); 00057 00058 ROS_INFO("base_laser: (%.2f, %.2f. %.2f) -----> base_link: (%.2f, %.2f, %.2f) at time %.2f", 00059 laser_point.point.x, laser_point.point.y, laser_point.point.z, 00060 base_point.point.x, base_point.point.y, base_point.point.z, base_point.header.stamp.toSec()); 00061 } 00062 catch(tf::TransformException& ex){ 00063 ROS_ERROR("Received an exception trying to transform a point from \"base_laser\" to \"base_link\": %s", ex.what()); 00064 } 00065 } 00066 00067 int main(int argc, char** argv){ 00068 ros::init(argc, argv, "robot_tf_listener"); 00069 ros::NodeHandle n; 00070 00071 tf::TransformListener listener(ros::Duration(10)); 00072 00073 //we'll transform a point once every second 00074 ros::Timer timer = n.createTimer(ros::Duration(1.0), boost::bind(&transformPoint, boost::ref(listener))); 00075 00076 ros::spin(); 00077 00078 }