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 00032 #ifndef TF2_ROS_TRANSFORMLISTENER_H 00033 #define TF2_ROS_TRANSFORMLISTENER_H 00034 00035 #include "std_msgs/Empty.h" 00036 #include "tf2_msgs/TFMessage.h" 00037 #include "ros/ros.h" 00038 #include "ros/callback_queue.h" 00039 00040 #include "tf2_ros/buffer.h" 00041 00042 #include "boost/thread.hpp" 00043 00044 namespace tf2_ros{ 00045 00048 class TransformListener 00049 { 00050 00051 public: 00053 TransformListener(tf2::BufferCore& buffer, bool spin_thread = true); 00054 TransformListener(tf2::BufferCore& buffer, const ros::NodeHandle& nh, bool spin_thread = true); 00055 00056 ~TransformListener(); 00057 00058 private: 00059 00061 void init(); 00062 void initWithThread(); 00063 00065 void subscription_callback(const ros::MessageEvent<tf2_msgs::TFMessage const>& msg_evt); 00066 void static_subscription_callback(const ros::MessageEvent<tf2_msgs::TFMessage const>& msg_evt); 00067 void subscription_callback_impl(const ros::MessageEvent<tf2_msgs::TFMessage const>& msg_evt, bool is_static); 00068 00069 ros::CallbackQueue tf_message_callback_queue_; 00070 boost::thread* dedicated_listener_thread_; 00071 ros::NodeHandle node_; 00072 ros::Subscriber message_subscriber_tf_; 00073 ros::Subscriber message_subscriber_tf_static_; 00074 tf2::BufferCore& buffer_; 00075 bool using_dedicated_thread_; 00076 ros::Time last_update_; 00077 00078 void dedicatedListenerThread() 00079 { 00080 while (using_dedicated_thread_) 00081 { 00082 tf_message_callback_queue_.callAvailable(ros::WallDuration(0.01)); 00083 } 00084 }; 00085 00086 }; 00087 } 00088 00089 #endif //TF_TRANSFORMLISTENER_H