static_transform_publisher.cpp
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00001 /*
00002  * Copyright (c) 2008, Willow Garage, Inc.
00003  * All rights reserved.
00004  *
00005  * Redistribution and use in source and binary forms, with or without
00006  * modification, are permitted provided that the following conditions are met:
00007  *
00008  *     * Redistributions of source code must retain the above copyright
00009  *       notice, this list of conditions and the following disclaimer.
00010  *     * Redistributions in binary form must reproduce the above copyright
00011  *       notice, this list of conditions and the following disclaimer in the
00012  *       documentation and/or other materials provided with the distribution.
00013  *     * Neither the name of the Willow Garage, Inc. nor the names of its
00014  *       contributors may be used to endorse or promote products derived from
00015  *       this software without specific prior written permission.
00016  *
00017  * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
00018  * AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
00019  * IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE
00020  * ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT OWNER OR CONTRIBUTORS BE
00021  * LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR
00022  * CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF
00023  * SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS
00024  * INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN
00025  * CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE)
00026  * ARISING IN ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
00027  * POSSIBILITY OF SUCH DAMAGE.
00028  */
00029 
00030 #include <cstdio>
00031 #include "tf/transform_broadcaster.h"
00032 
00033 class TransformSender
00034 {
00035 public:
00036   ros::NodeHandle node_;
00037   //constructor
00038   TransformSender(double x, double y, double z, double yaw, double pitch, double roll, ros::Time time, const std::string& frame_id, const std::string& child_frame_id)
00039   { 
00040     tf::Quaternion q;
00041     q.setRPY(roll, pitch,yaw);
00042     transform_ = tf::StampedTransform(tf::Transform(q, tf::Vector3(x,y,z)), time, frame_id, child_frame_id );
00043   };
00044   TransformSender(double x, double y, double z, double qx, double qy, double qz, double qw, ros::Time time, const std::string& frame_id, const std::string& child_frame_id) :
00045     transform_(tf::Transform(tf::Quaternion(qx,qy,qz,qw), tf::Vector3(x,y,z)), time, frame_id, child_frame_id){};
00046   //Clean up ros connections
00047   ~TransformSender() { }
00048 
00049   //A pointer to the rosTFServer class
00050   tf::TransformBroadcaster broadcaster;
00051 
00052 
00053 
00054   // A function to call to send data periodically
00055   void send (ros::Time time) {
00056     transform_.stamp_ = time;
00057     broadcaster.sendTransform(transform_);
00058   };
00059 
00060 private:
00061   tf::StampedTransform transform_;
00062 
00063 };
00064 
00065 int main(int argc, char ** argv)
00066 {
00067   //Initialize ROS
00068   ros::init(argc, argv,"static_transform_publisher", ros::init_options::AnonymousName);
00069 
00070   if(argc == 11)
00071   {
00072     ros::Duration sleeper(atof(argv[10])/1000.0);
00073 
00074     if (strcmp(argv[8], argv[9]) == 0)
00075       ROS_FATAL("target_frame and source frame are the same (%s, %s) this cannot work", argv[8], argv[9]);
00076 
00077     TransformSender tf_sender(atof(argv[1]), atof(argv[2]), atof(argv[3]),
00078                               atof(argv[4]), atof(argv[5]), atof(argv[6]), atof(argv[7]),
00079                               ros::Time() + sleeper, //Future dating to allow slower sending w/o timeout
00080                               argv[8], argv[9]);
00081 
00082 
00083 
00084     while(tf_sender.node_.ok())
00085     {
00086       tf_sender.send(ros::Time::now() + sleeper);
00087       ROS_DEBUG("Sending transform from %s with parent %s\n", argv[8], argv[9]);
00088       sleeper.sleep();
00089     }
00090 
00091     return 0;
00092   } 
00093   else if (argc == 10)
00094   {
00095     ros::Duration sleeper(atof(argv[9])/1000.0);
00096 
00097     if (strcmp(argv[7], argv[8]) == 0)
00098       ROS_FATAL("target_frame and source frame are the same (%s, %s) this cannot work", argv[7], argv[8]);
00099 
00100     TransformSender tf_sender(atof(argv[1]), atof(argv[2]), atof(argv[3]),
00101                               atof(argv[4]), atof(argv[5]), atof(argv[6]),
00102                               ros::Time() + sleeper, //Future dating to allow slower sending w/o timeout
00103                               argv[7], argv[8]);
00104 
00105 
00106 
00107     while(tf_sender.node_.ok())
00108     {
00109       tf_sender.send(ros::Time::now() + sleeper);
00110       ROS_DEBUG("Sending transform from %s with parent %s\n", argv[7], argv[8]);
00111       sleeper.sleep();
00112     }
00113 
00114     return 0;
00115 
00116   }
00117   else
00118   {
00119     printf("A command line utility for manually sending a transform.\n");
00120     printf("It will periodicaly republish the given transform. \n");
00121     printf("Usage: static_transform_publisher x y z yaw pitch roll frame_id child_frame_id  period(milliseconds) \n");
00122     printf("OR \n");
00123     printf("Usage: static_transform_publisher x y z qx qy qz qw frame_id child_frame_id  period(milliseconds) \n");
00124     printf("\nThis transform is the transform of the coordinate frame from frame_id into the coordinate frame \n");
00125     printf("of the child_frame_id.  \n");
00126     ROS_ERROR("static_transform_publisher exited due to not having the right number of arguments");
00127     return -1;
00128   }
00129 
00130 
00131 };
00132 


tf
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Wed Jan 3 2018 03:41:25