testBroadcaster.cpp
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29 
31 #include "ros/ros.h"
32 
34 {
35 public:
36  //constructor
38  //Clean up ros connections
40 
41  //A pointer to the rosTFServer class
43 
44 
45  // A function to call to send data periodically
46  void test () {
47  broadcaster.sendTransform(tf::StampedTransform(tf::Transform(tf::createIdentityQuaternion(), tf::Vector3(1,2,3)), ros::Time().fromSec(1), "frame2", "frame1"));
48 
49  if (count > 9000)
50  {
51  count = 0;
52  std::cerr<<"Counter 0 rolledover at 9000"<< std::endl;
53  }
54  else
55  count ++;
56  //std::cerr<<count<<std::endl;
57  };
58 
59  // A function to call to send data periodically
60  void test_vector () {
61  std::vector<tf::StampedTransform> vec;
62  vec.push_back(tf::StampedTransform(tf::Transform(tf::createIdentityQuaternion(), tf::Vector3(1,2,3)), ros::Time().fromSec(1), "vframe2", "vframe1"));
63  vec.push_back(tf::StampedTransform(tf::Transform(tf::createIdentityQuaternion(), tf::Vector3(1,2,3)), ros::Time().fromSec(1), "vframe1", "vframe0"));
64  broadcaster.sendTransform(vec);
65 
66  if (count1 > 9000)
67  {
68  count1 = 0;
69  std::cerr<<"Counter 1 rolledover at 9000"<< std::endl;
70  }
71  else
72  count1 ++;
73  //std::cerr<<count1<<std::endl;
74  };
75 private:
76  int count;
77  int count1;
78 
79 };
80 
81 int main(int argc, char ** argv)
82 {
83  //Initialize ROS
84  ros::init(argc, argv, "testBroadcaster", ros::init_options::AnonymousName);
85 
86  //Construct/initialize the server
87  testBroadcaster myTestBroadcaster;
88 
89  ros::NodeHandle node;
90  while(ros::ok())//Check if a Ctrl-C or other shutdown command has been recieved
91  {
92  //Send some data
93  myTestBroadcaster.test();
94  myTestBroadcaster.test_vector();
95  usleep(1000);
96  }
97 
98  return 0;
99 };
100 
ROSCPP_DECL void init(int &argc, char **argv, const std::string &name, uint32_t options=0)
int main(int argc, char **argv)
static tf::Quaternion createIdentityQuaternion()
construct an Identity Quaternion
The Transform class supports rigid transforms with only translation and rotation and no scaling/shear...
Definition: Transform.h:31
ROSCPP_DECL bool ok()
void sendTransform(const StampedTransform &transform)
Send a StampedTransform The stamped data structure includes frame_id, and time, and parent_id already...
This class provides an easy way to publish coordinate frame transform information. It will handle all the messaging and stuffing of messages. And the function prototypes lay out all the necessary data needed for each message.
tf::TransformBroadcaster broadcaster
The Stamped Transform datatype used by tf.
Vector3 can be used to represent 3D points and vectors. It has an un-used w component to suit 16-byte...
Definition: Vector3.h:38


tf
Author(s): Tully Foote, Eitan Marder-Eppstein, Wim Meeussen
autogenerated on Sun Jul 8 2018 02:12:41