transform_listener.py

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# Copyright (c) 2008, Willow Garage, Inc.
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#       this software without specific prior written permission.
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# author: Wim Meeussen

import roslib; roslib.load_manifest('tf2_ros')
import rospy
import rospy
import tf2_ros
import threading
from tf2_msgs.msg import TFMessage

class TransformListener():
    def __init__(self, buffer):
        self.listenerthread = TransformListenerThread(buffer)
        self.listenerthread.setDaemon(True)
        self.listenerthread.start()


class TransformListenerThread(threading.Thread):
    def __init__(self, buffer):
        self.buffer = buffer
        threading.Thread.__init__(self)



    def run(self):
        rospy.Subscriber("/tf", TFMessage, self.callback)
        rospy.spin()

    def callback(self, data):
        who = data._connection_header.get('callerid', "default_authority")
        for transform in data.transforms:
            self.buffer.set_transform(transform, who)