00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2008, Willow Garage, Inc. 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Willow Garage nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Wim Meeussen */ 00036 00037 #ifndef ROBOT_STATE_PUBLISHER_H 00038 #define ROBOT_STATE_PUBLISHER_H 00039 00040 #include <ros/ros.h> 00041 #include <tf/tf.h> 00042 #include <tf/tfMessage.h> 00043 #include <kdl/tree.hpp> 00044 00045 namespace robot_state_chain_publisher{ 00046 00047 class RobotStatePublisher 00048 { 00049 public: 00050 RobotStatePublisher(const KDL::Tree& tree); 00051 ~RobotStatePublisher(){}; 00052 00053 class JointState { 00054 public: 00055 double pos; 00056 ros::Time time; 00057 bool published; 00058 }; 00059 00060 bool publishTransforms(std::map<std::string, RobotStatePublisher::JointState >& joint_positions, const ros::Time& time, const ros::Time& republish_time); 00061 00062 private: 00063 ros::NodeHandle n_; 00064 ros::Publisher tf_publisher_; 00065 KDL::Tree tree_; 00066 std::string root_; 00067 bool ignore_root; 00068 std::string tf_prefix_; 00069 tf::tfMessage tf_msg_; 00070 00071 class empty_tree_exception: public std::exception{ 00072 virtual const char* what() const throw(){ 00073 return "Tree is empty";} 00074 } empty_tree_ex; 00075 00076 void addChildTransforms(std::map<std::string, RobotStatePublisher::JointState >& joint_positions, const KDL::SegmentMap::const_iterator segment, int &tf_index, const ros::Time &time, const ros::Time& republish_time); 00077 00078 }; 00079 } 00080 00081 #endif