robot_state_publisher: robot_state_publisher.cpp Source File

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00034 
00035 /* Author: Wim Meeussen */
00036 
00037 #include "robot_state_publisher/robot_state_publisher.h"
00038 #include <kdl/frames_io.hpp>
00039 #include <tf_conversions/tf_kdl.h>
00040 
00041 using namespace std;
00042 using namespace ros;
00043 using namespace KDL;
00044 
00045 
00046 
00047 namespace robot_state_publisher{
00048 
00049 RobotStatePublisher::RobotStatePublisher(const Tree& tree)
00050    :tree_(tree)
00051 {
00052   // build tree solver
00053   solver_.reset(new TreeFkSolverPosFull_recursive(tree_));
00054 
00055   // get parameter to flatter tree or not
00056   ros::NodeHandle n_private("~");
00057   n_private.param("flatten_tree", flatten_tree_, false);
00058 
00059   // advertise tf message
00060   NodeHandle n;
00061   tf_publisher_ = n.advertise<tf::tfMessage>("/tf", 5);
00062 
00063   // get the root segment of the tree
00064   SegmentMap::const_iterator root = tree.getRootSegment();
00065   root_ = root->first;
00066 }
00067 
00068 
00069 
00070 bool RobotStatePublisher::publishTransforms(const map<string, double>& joint_positions, const Time& time)
00071 {
00072   // calculate transforms 
00073   map<string, tf::Stamped<Frame> > link_poses;
00074   solver_->JntToCart(joint_positions, link_poses, flatten_tree_);
00075 
00076   if (link_poses.empty()){
00077     ROS_ERROR("Could not compute link poses. The tree or the state is invalid.");
00078     return false;
00079   }
00080   transforms_.resize(link_poses.size());
00081 
00082   unsigned int i = 0;
00083   tf::Transform tf_frame;
00084   for (map<string, tf::Stamped<Frame> >::const_iterator f=link_poses.begin(); f!=link_poses.end(); f++){
00085     tf::TransformKDLToTF(f->second, transforms_[i]);
00086     transforms_[i].stamp_ = time;
00087     transforms_[i].frame_id_ = f->second.frame_id_;
00088     transforms_[i].child_frame_id_ = f->first;
00089     i++;
00090   }
00091 
00092   tf_broadcaster_.sendTransform(transforms_);
00093 
00094   return true;
00095 }
00096 }
00097 
00098 
00099