testBroadcaster.cpp
Go to the documentation of this file.
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 "tf/transform_broadcaster.h"
00031 #include "ros/ros.h"
00032 
00033 class testBroadcaster 
00034 {
00035 public:
00036   //constructor
00037   testBroadcaster() : count(0), count1(0){};
00038   //Clean up ros connections
00039   ~testBroadcaster() { }
00040 
00041   //A pointer to the rosTFServer class
00042   tf::TransformBroadcaster broadcaster;
00043 
00044 
00045   // A function to call to send data periodically
00046   void test () {
00047     broadcaster.sendTransform(tf::StampedTransform(tf::Transform(tf::createIdentityQuaternion(), tf::Vector3(1,2,3)), ros::Time().fromSec(1), "frame2", "frame1"));
00048 
00049     if (count > 9000)
00050     {
00051       count = 0;
00052       std::cerr<<"Counter 0 rolledover at 9000"<< std::endl;
00053     }
00054     else
00055       count ++;
00056     //std::cerr<<count<<std::endl;
00057   };
00058 
00059   // A function to call to send data periodically
00060   void test_vector () {
00061     std::vector<tf::StampedTransform> vec;
00062     vec.push_back(tf::StampedTransform(tf::Transform(tf::createIdentityQuaternion(), tf::Vector3(1,2,3)), ros::Time().fromSec(1), "vframe2", "vframe1"));
00063     vec.push_back(tf::StampedTransform(tf::Transform(tf::createIdentityQuaternion(), tf::Vector3(1,2,3)), ros::Time().fromSec(1), "vframe1", "vframe0"));
00064     broadcaster.sendTransform(vec);
00065 
00066     if (count1 > 9000)
00067     {
00068       count1 = 0;
00069       std::cerr<<"Counter 1 rolledover at 9000"<< std::endl;
00070     }
00071     else
00072       count1 ++;
00073     //std::cerr<<count1<<std::endl;
00074   };
00075 private:
00076   int count;
00077   int count1;
00078 
00079 };
00080 
00081 int main(int argc, char ** argv)
00082 {
00083   //Initialize ROS
00084   ros::init(argc, argv, "testBroadcaster", ros::init_options::AnonymousName);
00085 
00086   //Construct/initialize the server
00087   testBroadcaster myTestBroadcaster;
00088 
00089   ros::NodeHandle node; 
00090   while(ros::ok())//Check if a Ctrl-C or other shutdown command has been recieved
00091   {
00092       //Send some data
00093       myTestBroadcaster.test();
00094       myTestBroadcaster.test_vector();
00095       usleep(1000);
00096   }
00097 
00098   return 0;
00099 };
00100 


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