static_transform_broadcaster.h
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00033 #ifndef _STATIC_TRANSFORM_BROADCASTER_H_
00034 #define _STATIC_TRANSFORM_BROADCASTER_H_
00035 
00036 #include <map>
00037 
00038 #include <boost/thread/thread.hpp>
00039 #include <boost/thread/mutex.hpp>
00040 
00041 #include <geometry_msgs/TransformStamped.h>
00042 
00043 #include <tf/transform_datatypes.h>
00044 #include <tf/transform_broadcaster.h>
00045 
00046 namespace static_transform_broadcaster {
00047 
00049 
00058 class StaticTransformBroadcaster
00059 {
00060 private:
00062   tf::TransformBroadcaster broadcaster_;
00063 
00065   std::map<std::string, geometry_msgs::TransformStamped> transforms_;
00066   
00068   double publishing_rate_;
00069 
00071   bool finished_;
00072 
00074   boost::thread *publishing_thread_;
00075 
00077   boost::mutex mutex_;
00078 
00081   void publishingThread()
00082   {
00083     while (!finished_)
00084     {
00085       ros::Duration(publishing_rate_).sleep();
00086       std::map<std::string, geometry_msgs::TransformStamped>::iterator it;
00087       mutex_.lock();
00088       for (it = transforms_.begin(); it!=transforms_.end(); it++)
00089       {
00090         geometry_msgs::TransformStamped trans = it->second;
00091         trans.header.stamp = ros::Time::now();
00092         broadcaster_.sendTransform(trans);
00093       }
00094       mutex_.unlock();
00095     }
00096   }
00097   
00098 public:
00100   StaticTransformBroadcaster() : publishing_rate_(0.1), finished_(false) 
00101   {
00102     publishing_thread_ = new boost::thread(boost::bind(&StaticTransformBroadcaster::publishingThread, this)); 
00103   }
00104 
00106   ~StaticTransformBroadcaster() 
00107   {
00108     finished_ = true;
00109     publishing_thread_->join();
00110     delete publishing_thread_;
00111   }
00112 
00114 
00115   void setTransform(geometry_msgs::TransformStamped transform)
00116   {
00117     mutex_.lock();
00118     transforms_[transform.child_frame_id] = transform;
00119     mutex_.unlock();
00120   }
00121 
00123   void removeTransform(std::string child_frame_id)
00124   {
00125     mutex_.lock();
00126     std::map<std::string, geometry_msgs::TransformStamped>::iterator it = transforms_.find(child_frame_id);    
00127     if (it != transforms_.end())
00128     {
00129       transforms_.erase(it);
00130     }
00131     else
00132     {
00133       ROS_WARN("Static transform broadcaster: attempt to erase non-existent transform to frame %s",
00134                child_frame_id.c_str());
00135     }
00136     mutex_.unlock();
00137   }
00138   
00140   void removeAllTransforms()
00141   {
00142     transforms_.clear();
00143   }
00144 
00146   void setPublishingRate(double rate)
00147   {
00148     publishing_rate_ = std::max(0.0, rate);
00149   }
00150 
00151   double getPublishingRate() const 
00152   {
00153     return publishing_rate_;
00154   }
00155 };
00156 
00157 } //namespace
00158 
00159 #endif
00160 
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static_transform_broadcaster
Author(s): Matei Ciocarlie
autogenerated on Fri Jan 25 2013 15:03:00