tf_echo.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_listener.h"
00032 #include "ros/ros.h"
00033 
00034 #define _USE_MATH_DEFINES
00035 class echoListener
00036 {
00037 public:
00038 
00039   tf::TransformListener tf;
00040 
00041   //constructor with name
00042   echoListener()
00043   {
00044 
00045   };
00046 
00047   ~echoListener()
00048   {
00049 
00050   };
00051 
00052 private:
00053 
00054 };
00055 
00056 
00057 int main(int argc, char ** argv)
00058 {
00059   //Initialize ROS
00060   ros::init(argc, argv, "tf_echo", ros::init_options::AnonymousName);
00061 
00062   // Allow 2 or 3 command line arguments
00063   if (argc < 3 || argc > 4)
00064   {
00065     printf("Usage: tf_echo source_frame target_frame [echo_rate]\n\n");
00066     printf("This will echo the transform from the coordinate frame of the source_frame\n");
00067     printf("to the coordinate frame of the target_frame. \n");
00068     printf("Note: This is the transform to get data from target_frame into the source_frame.\n");
00069     printf("Default echo rate is 1 if echo_rate is not given.\n");
00070     return -1;
00071   }
00072 
00073   ros::NodeHandle nh;
00074 
00075   double rate_hz;
00076   if (argc == 4)
00077   {
00078     // read rate from command line
00079     rate_hz = atof(argv[3]);
00080   }
00081   else
00082   {
00083     // read rate parameter
00084     ros::NodeHandle p_nh("~");
00085     p_nh.param("rate", rate_hz, 1.0);
00086   }
00087   if (rate_hz <= 0.0)
00088   {
00089     std::cerr << "Echo rate must be > 0.0\n";
00090     return -1;
00091   }
00092   ros::Rate rate(rate_hz);
00093 
00094   //Instantiate a local listener
00095   echoListener echoListener;
00096 
00097 
00098   std::string source_frameid = std::string(argv[1]);
00099   std::string target_frameid = std::string(argv[2]);
00100 
00101   // Wait for up to one second for the first transforms to become avaiable. 
00102   echoListener.tf.waitForTransform(source_frameid, target_frameid, ros::Time(), ros::Duration(1.0));
00103 
00104   //Nothing needs to be done except wait for a quit
00105   //The callbacks withing the listener class
00106   //will take care of everything
00107   while(nh.ok())
00108     {
00109       try
00110       {
00111         tf::StampedTransform echo_transform;
00112         echoListener.tf.lookupTransform(source_frameid, target_frameid, ros::Time(), echo_transform);
00113         std::cout.precision(3);
00114         std::cout.setf(std::ios::fixed,std::ios::floatfield);
00115         std::cout << "At time " << echo_transform.stamp_.toSec() << std::endl;
00116         double yaw, pitch, roll;
00117         echo_transform.getBasis().getRPY(roll, pitch, yaw);
00118         tf::Quaternion q = echo_transform.getRotation();
00119         tf::Vector3 v = echo_transform.getOrigin();
00120         std::cout << "- Translation: [" << v.getX() << ", " << v.getY() << ", " << v.getZ() << "]" << std::endl;
00121         std::cout << "- Rotation: in Quaternion [" << q.getX() << ", " << q.getY() << ", " 
00122                   << q.getZ() << ", " << q.getW() << "]" << std::endl
00123                   << "            in RPY (radian) [" <<  roll << ", " << pitch << ", " << yaw << "]" << std::endl
00124                   << "            in RPY (degree) [" <<  roll*180.0/M_PI << ", " << pitch*180.0/M_PI << ", " << yaw*180.0/M_PI << "]" << std::endl;
00125 
00126         //print transform
00127       }
00128       catch(tf::TransformException& ex)
00129       {
00130         std::cout << "Failure at "<< ros::Time::now() << std::endl;
00131         std::cout << "Exception thrown:" << ex.what()<< std::endl;
00132         std::cout << "The current list of frames is:" <<std::endl;
00133         std::cout << echoListener.tf.allFramesAsString()<<std::endl;
00134         
00135       }
00136       rate.sleep();
00137     }
00138 
00139   return 0;
00140 };
00141 


tf
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Sat Feb 24 2018 03:56:42