00001 /********************************************************************* 00002 * Software License Agreement (BSD License) 00003 * 00004 * Copyright (c) 2015, University of Colorado, Boulder 00005 * All rights reserved. 00006 * 00007 * Redistribution and use in source and binary forms, with or without 00008 * modification, are permitted provided that the following conditions 00009 * are met: 00010 * 00011 * * Redistributions of source code must retain the above copyright 00012 * notice, this list of conditions and the following disclaimer. 00013 * * Redistributions in binary form must reproduce the above 00014 * copyright notice, this list of conditions and the following 00015 * disclaimer in the documentation and/or other materials provided 00016 * with the distribution. 00017 * * Neither the name of the Univ of CO, Boulder nor the names of its 00018 * contributors may be used to endorse or promote products derived 00019 * from this software without specific prior written permission. 00020 * 00021 * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS 00022 * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT 00023 * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS 00024 * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE 00025 * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, 00026 * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, 00027 * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; 00028 * LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER 00029 * CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT 00030 * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN 00031 * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE 00032 * POSSIBILITY OF SUCH DAMAGE. 00033 *********************************************************************/ 00034 00035 /* Author: Dave Coleman <dave@dav.ee> 00036 Desc: Helps debug and visualize transforms via the TF infrastructure 00037 Note: We shouldn't have to publish the transforms at interval since they are static, but we do 00038 because of https://github.com/ros/geometry_experimental/issues/108 00039 */ 00040 00041 #ifndef RVIZ_VISUAL_TOOLS_TF_VISUAL_TOOLS_H 00042 #define RVIZ_VISUAL_TOOLS_TF_VISUAL_TOOLS_H 00043 00044 // C++ 00045 #include <vector> 00046 #include <string> 00047 00048 // ROS 00049 #include <ros/ros.h> 00050 #include <geometry_msgs/TransformStamped.h> 00051 00052 // Eigen 00053 #include <Eigen/Geometry> 00054 00055 #include <tf2_ros/transform_broadcaster.h> 00056 00057 // namespace tf2_ros 00058 // { 00059 // class StaticTransformBroadcaster; 00060 // }; 00061 00062 namespace rviz_visual_tools 00063 { 00064 class TFVisualTools 00065 { 00066 public: 00070 TFVisualTools(); 00071 00076 bool publishTransform(const Eigen::Affine3d& transform, const std::string& from_frame, const std::string& to_frame); 00077 00081 void publishAllTransforms(const ros::TimerEvent& e); 00082 00083 private: 00084 // A shared node handle 00085 ros::NodeHandle nh_; 00086 00087 // Send tf messages 00088 tf2_ros::TransformBroadcaster tf_pub_; 00089 00090 // Separate thread to publish transforms 00091 ros::Timer non_realtime_loop_; 00092 00093 // Collect the transfroms 00094 std::vector<geometry_msgs::TransformStamped> transforms_; 00095 }; // end class 00096 00097 // Create boost pointers for this class 00098 typedef boost::shared_ptr<TFVisualTools> TFVisualToolsPtr; 00099 typedef boost::shared_ptr<const TFVisualTools> TFVisualToolsConstPtr; 00100 00101 } // namespace rviz_visual_tools 00102 00103 #endif // RVIZ_VISUAL_TOOLS_TF_VISUAL_TOOLS_H