static_transform_publisher.cpp

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 *  Author : Dula Nad
 *  Created: 26.03.2013.
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#include <labust/tools/conversions.hpp>
#include <labust/tools/MatrixLoader.hpp>

#include <geometry_msgs/TransformStamped.h>
#include <tf2_ros/static_transform_broadcaster.h>
#include <ros/ros.h>
int main(int argc, char* argv[])
{
        ros::init(argc,argv,"static_transform_publisher");
        ros::NodeHandle ph("~");

        tf2_ros::StaticTransformBroadcaster broadcast;
        Eigen::Vector3d origin, orientation;
        labust::tools::getMatrixParam(ph, "origin", origin);
        labust::tools::getMatrixParam(ph, "orientation", orientation);

        //Broadcast the position of the device.
        enum {x=0,y,z};
        enum {roll=0,pitch,yaw};
        geometry_msgs::TransformStamped transform;
        transform.transform.translation.x = origin(x);
        transform.transform.translation.y = origin(y);
        transform.transform.translation.z = origin(z);
        labust::tools::quaternionFromEulerZYX(
                        orientation(roll),
                        orientation(pitch),
                        orientation(yaw),
                        transform.transform.rotation);
        ph.getParam("child_frame", transform.child_frame_id);
        ph.getParam("base_frame", transform.header.frame_id);
        transform.header.stamp = ros::Time::now();
        broadcast.sendTransform(transform);

        ros::spin();
}