tf_remapper_cpp::TfRemapperNode Class Reference

A node that remaps TF frame names according to the given set of rules. More...

#include <tf_remapper_node.h>

List of all members.

Public Member Functions
	TfRemapperNode ()
virtual	~TfRemapperNode ()
Protected Member Functions
void	addToStaticTfCache (const tf2_msgs::TFMessage &message, tf2_msgs::TFMessage &cache) const
	Add the given TF message to the static TF cache. Newer TFs overwrite the older ones.
void	oldTfCallback (const ros::MessageEvent< tf2_msgs::TFMessage const > &event)
	The remapper that actually changes the TF messages in reverse direction.
void	remappedTfCallback (const ros::MessageEvent< tf2_msgs::TFMessage const > &event)
	Callback when a TF message arrives on the remapped TF topic.
Protected Attributes
ros::Publisher	oldTfPublisher
	Publisher of /tf.
ros::Subscriber	oldTfSubscriber
	Private ROS node handle.
std::string	oldTfTopic
	Cache of static TF messages in the reverse direction.
ros::NodeHandle	privateNodeHandle
	ROS node handle.
ros::NodeHandle	publicNodeHandle
ros::Publisher	remappedTfPublisher
	Subscriber to /tf (only in bidirectional mode).
ros::Subscriber	remappedTfSubscriber
	Subscriber to /tf_old.
std::string	remappedTfTopic
	Name of the old topic ("/tf_old").
tf2_msgs::TFMessage	reverseStaticTfCache
	Cache of static TF messages.
TfRemapper	reverseTfRemapper
	The remapper that actually changes the TF messages.
bool	staticTf
	Publisher of /tf_old (only in bidirectional mode).
tf2_msgs::TFMessage	staticTfCache
	If true, this node works with static TF, which need special care.
TfRemapper	tfRemapper
	Name of the remapped topic ("/tf").

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Detailed Description

A node that remaps TF frame names according to the given set of rules.

Parameters:

• mappings (array of dicts): The rules for TF frame name remapping, e.g. [{"old": "b", "new": "d"}]
• static_tf (bool): Whether the remapper acts on static TFs or not. If not set, it is autodetected from topic name.
• old_tf_topic_name (string, default '/tf_old'): The topic on which old TFs are subscribed.
• new_tf_topic_name (string, default '/tf'): The topic on which remapped TFs are published.
• is_bidirectional (bool, default False): If True, the remapper will also allow passing TFs published on the "remapped end" to the "old end". Pay special attention if you use any kind of multimaster solution or a custom topic transport. This node needs CallerIDs to be unchanged.

Definition at line 23 of file tf_remapper_node.h.

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Constructor & Destructor Documentation

tf_remapper_cpp::TfRemapperNode::TfRemapperNode

(

)

Start the node.

Exceptions:

ros::InvalidParameterException

if the 'mappings' parameter has invalid value.

Definition at line 4 of file tf_remapper_node.cpp.

virtual tf_remapper_cpp::TfRemapperNode::~TfRemapperNode

(

)

[inline, virtual]

Definition at line 29 of file tf_remapper_node.h.

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Member Function Documentation

void tf_remapper_cpp::TfRemapperNode::addToStaticTfCache	(	const tf2_msgs::TFMessage &	message,
		tf2_msgs::TFMessage &	cache
	)		const [protected]

Add the given TF message to the static TF cache. Newer TFs overwrite the older ones.

Parameters:

message	The message to add.
cache	The cache to update.

Definition at line 102 of file tf_remapper_node.cpp.

void tf_remapper_cpp::TfRemapperNode::oldTfCallback

(

const ros::MessageEvent< tf2_msgs::TFMessage const > &

event

)

[protected]

The remapper that actually changes the TF messages in reverse direction.

Callback when a TF message arrives on the old TF topic.

Parameters:

event

The TF message.

Definition at line 66 of file tf_remapper_node.cpp.

void tf_remapper_cpp::TfRemapperNode::remappedTfCallback

(

const ros::MessageEvent< tf2_msgs::TFMessage const > &

event

)

[protected]

Callback when a TF message arrives on the remapped TF topic.

Parameters:

event

The TF message.

Definition at line 84 of file tf_remapper_node.cpp.

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Member Data Documentation

ros::Publisher tf_remapper_cpp::TfRemapperNode::oldTfPublisher [protected]

Publisher of /tf.

Definition at line 37 of file tf_remapper_node.h.

ros::Subscriber tf_remapper_cpp::TfRemapperNode::oldTfSubscriber [protected]

Private ROS node handle.

Definition at line 34 of file tf_remapper_node.h.

std::string tf_remapper_cpp::TfRemapperNode::oldTfTopic [protected]

Cache of static TF messages in the reverse direction.

Definition at line 43 of file tf_remapper_node.h.

ros::NodeHandle tf_remapper_cpp::TfRemapperNode::privateNodeHandle [protected]

ROS node handle.

Definition at line 33 of file tf_remapper_node.h.

ros::NodeHandle tf_remapper_cpp::TfRemapperNode::publicNodeHandle [protected]

Definition at line 29 of file tf_remapper_node.h.

ros::Publisher tf_remapper_cpp::TfRemapperNode::remappedTfPublisher [protected]

Subscriber to /tf (only in bidirectional mode).

Definition at line 36 of file tf_remapper_node.h.

ros::Subscriber tf_remapper_cpp::TfRemapperNode::remappedTfSubscriber [protected]

Subscriber to /tf_old.

Definition at line 35 of file tf_remapper_node.h.

std::string tf_remapper_cpp::TfRemapperNode::remappedTfTopic [protected]

Name of the old topic ("/tf_old").

Definition at line 44 of file tf_remapper_node.h.

tf2_msgs::TFMessage tf_remapper_cpp::TfRemapperNode::reverseStaticTfCache [protected]

Cache of static TF messages.

Definition at line 41 of file tf_remapper_node.h.

TfRemapper tf_remapper_cpp::TfRemapperNode::reverseTfRemapper [protected]

The remapper that actually changes the TF messages.

Definition at line 47 of file tf_remapper_node.h.

bool tf_remapper_cpp::TfRemapperNode::staticTf [protected]

Publisher of /tf_old (only in bidirectional mode).

Definition at line 39 of file tf_remapper_node.h.

tf2_msgs::TFMessage tf_remapper_cpp::TfRemapperNode::staticTfCache [protected]

If true, this node works with static TF, which need special care.

Definition at line 40 of file tf_remapper_node.h.

TfRemapper tf_remapper_cpp::TfRemapperNode::tfRemapper [protected]

Name of the remapped topic ("/tf").

Definition at line 46 of file tf_remapper_node.h.

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The documentation for this class was generated from the following files:

• tf_remapper_node.h
• tf_remapper_node.cpp